Pass timeout duration to invocation of rmw_wait #66
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| @@ -107,11 +109,13 @@ class Executor | |||
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| } | |||
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| void spin_node_once(rclcpp::node::Node::SharedPtr & node, bool nonblocking = false) | |||
| template<typename Rep = int64_t, typename Period = std::milli> | |||
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Do we really need to offer templated variations of the timeout?
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I think it would be nice to do so, but as I was just talking with @jacquelinekay off-line I suggested templating it on a single typename, like DurationT.
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| auto timeout_sec = std::chrono::duration_cast<std::chrono::seconds>(timeout); | ||
| rmw_timeout.sec = timeout_sec.count(); | ||
| rmw_timeout.nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count() % | ||
| SEC_TO_NSEC; |
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SEC_TO_NSEC implies a function with some behavior. I would suggest to just use (1000 * 1000 * 1000) here instead.
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| void spin_node_once(rclcpp::node::Node::SharedPtr & node, bool nonblocking = false) | ||
| template<typename T = std::milli> | ||
| void spin_node_once(rclcpp::node::Node::SharedPtr & node, | ||
| std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1)) |
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We might want some typedefs for these durations. And may be a default value for -1.
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LGTM |
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+1 |
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+1 |
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+1 should squash |
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jacquelinekay
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Pass timeout duration to invocation of rmw_wait
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…s-merge-master Merged master on irobot/add-rmw-listener-apis
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Connects to ros2/ros2#73