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Asynchronously wait for load node service response #174

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merged 2 commits into from
Aug 28, 2020
Merged

Asynchronously wait for load node service response #174

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59c360f
Asynchronously wait for load node service response
jacobperron Aug 18, 2020
15ec341
Add back debug log
jacobperron Aug 18, 2020
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30 changes: 29 additions & 1 deletion launch_ros/launch_ros/actions/load_composable_nodes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@

"""Module for the LoadComposableNodes action."""

import threading

from typing import List
from typing import Optional
from typing import Text
Expand Down Expand Up @@ -99,13 +101,39 @@ def _load_node(
)
)
return

# Asynchronously wait on service call so that we can periodically check for shutdown
event = threading.Event()

def unblock(future):
nonlocal event
event.set()

self.__logger.debug(
"Calling the '{}' service with request '{}'".format(
self.__rclpy_load_node_client.srv_name, request
)
)
response = self.__rclpy_load_node_client.call(request)

response_future = self.__rclpy_load_node_client.call_async(request)
response_future.add_done_callback(unblock)

while not event.wait(1.0):
if context.is_shutdown:
self.__logger.warning(
"Abandoning wait for the '{}' service response, due to shutdown.".format(
self.__rclpy_load_node_client.srv_name),
)
response_future.cancel()
return

# Get response
if response_future.exception() is not None:
raise response_future.exception()
response = response_future.result()

self.__logger.debug("Received response '{}'".format(response))

node_name = response.full_node_name if response.full_node_name else request.node_name
if response.success:
if node_name is not None:
Expand Down