Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add overall spin timeout to rosserial read. #334

Merged
merged 1 commit into from
Nov 13, 2017
Merged

Add overall spin timeout to rosserial read. #334

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 38 additions & 4 deletions rosserial_client/src/ros_lib/ros/node_handle.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,10 @@ class NodeHandleBase_
namespace ros
{

const int SPIN_OK = 0;
const int SPIN_ERR = -1;
const int SPIN_TIMEOUT = -2;
Copy link
Member

@mikepurvis mikepurvis Nov 13, 2017 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

There's a case to be made that these should be static const int members of NodeHandle, but it's probably fine for them just to be here.


const uint8_t SYNC_SECONDS = 5;
const uint8_t MODE_FIRST_FF = 0;
/*
Expand Down Expand Up @@ -108,6 +112,9 @@ class NodeHandle_ : public NodeHandleBase_
/* used for computing current time */
uint32_t sec_offset, nsec_offset;

/* Spinonce maximum work timeout */
uint32_t spin_timeout_;

uint8_t message_in[INPUT_SIZE];
uint8_t message_out[OUTPUT_SIZE];

Expand Down Expand Up @@ -139,6 +146,8 @@ class NodeHandle_ : public NodeHandleBase_
req_param_resp.floats = NULL;
req_param_resp.ints_length = 0;
req_param_resp.ints = NULL;

spin_timeout_ = 0;
}

Hardware* getHardware()
Expand Down Expand Up @@ -166,6 +175,19 @@ class NodeHandle_ : public NodeHandleBase_
topic_ = 0;
};

/**
* @brief Sets the maximum time in millisconds that spinOnce() can work.
* This will not effect the processing of the buffer, as spinOnce processes
* one byte at a time. It simply sets the maximum time that one call can
* process for. You can choose to clear the buffer if that is beneficial if
* SPIN_TIMEOUT is returned from spinOnce().
* @param timeout The timeout in milliseconds that spinOnce will function.
*/
void setSpinTimeout(const uint32_t& timeout)
{
spin_timeout_ = timeout;
}

protected:
//State machine variables for spinOnce
int mode_;
Expand All @@ -189,7 +211,6 @@ class NodeHandle_ : public NodeHandleBase_

virtual int spinOnce()
{

/* restart if timed out */
uint32_t c_time = hardware_.time();
if ((c_time - last_sync_receive_time) > (SYNC_SECONDS * 2200))
Expand All @@ -209,6 +230,19 @@ class NodeHandle_ : public NodeHandleBase_
/* while available buffer, read data */
while (true)
{
// If a timeout has been specified, check how long spinOnce has been running.
if (spin_timeout_ > 0)
{
// If the maximum processing timeout has been exceeded, exit with error.
// The next spinOnce can continue where it left off, or optionally
// based on the application in use, the hardware buffer could be flushed
// and start fresh.
if ((hardware_.time() - c_time) > spin_timeout_)
{
// Exit the spin, processing timeout exceeded.
return SPIN_TIMEOUT;
}
}
int data = hardware_.read();
if (data < 0)
break;
Expand All @@ -231,7 +265,7 @@ class NodeHandle_ : public NodeHandleBase_
{
/* We have been stuck in spinOnce too long, return error */
configured_ = false;
return -2;
return SPIN_TIMEOUT;
}
}
else if (mode_ == MODE_PROTOCOL_VER)
Expand Down Expand Up @@ -290,7 +324,7 @@ class NodeHandle_ : public NodeHandleBase_
negotiateTopics();
last_sync_time = c_time;
last_sync_receive_time = c_time;
return -1;
return SPIN_ERR;
}
else if (topic_ == TopicInfo::ID_TIME)
{
Expand Down Expand Up @@ -321,7 +355,7 @@ class NodeHandle_ : public NodeHandleBase_
last_sync_time = c_time;
}

return 0;
return SPIN_OK;
}


Expand Down