Handle on waiting (backport #1562) (#1681)

* Handle waiting in Spawner and align Hardware Spawner functionality (#1562)

(cherry picked from commit af4b48f)

---------

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>

controller_manager/CMakeLists.txt

@@ -182,13 +182,17 @@ if(BUILD_TESTING)
 
  ament_add_gmock(test_spawner_unspawner
  test/test_spawner_unspawner.cpp
+ TIMEOUT 120
  )
  target_link_libraries(test_spawner_unspawner
  controller_manager
  test_controller
  ros2_control_test_assets::ros2_control_test_assets
  )
 
+ install(FILES test/test_controller_spawner_with_type.yaml
+ DESTINATION test)
+
  ament_add_gmock(test_hardware_management_srvs
  test/test_hardware_management_srvs.cpp
  )

controller_manager/controller_manager/controller_manager_services.py

@@ -28,15 +28,20 @@
 import rclpy
 
 
-def service_caller(node, service_name, service_type, request, service_timeout=10.0):
+class ServiceNotFoundError(Exception):
+ pass
+
+
+def service_caller(node, service_name, service_type, request, service_timeout=0.0):
  cli = node.create_client(service_type, service_name)
 
- if not cli.service_is_ready():
- node.get_logger().debug(
- f"waiting {service_timeout} seconds for service {service_name} to become available..."
- )
- if not cli.wait_for_service(service_timeout):
- raise RuntimeError(f"Could not contact service {service_name}")
+ while not cli.service_is_ready():
+ node.get_logger().info(f"waiting for service {service_name} to become available...")
+ if service_timeout:
+ if not cli.wait_for_service(service_timeout):
+ raise ServiceNotFoundError(f"Could not contact service {service_name}")
+ elif not cli.wait_for_service(10.0):
+ node.get_logger().warn(f"Could not contact service {service_name}")
 
  node.get_logger().debug(f"requester: making request: {request}\n")
  future = cli.call_async(request)
@@ -47,7 +52,7 @@ def service_caller(node, service_name, service_type, request, service_timeout=10
  raise RuntimeError(f"Exception while calling service: {future.exception()}")
 
 
-def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
  request = ConfigureController.Request()
  request.name = controller_name
  return service_caller(
@@ -59,7 +64,7 @@ def configure_controller(node, controller_manager_name, controller_name, service
  )
 
 
-def list_controllers(node, controller_manager_name, service_timeout=10.0):
+def list_controllers(node, controller_manager_name, service_timeout=0.0):
  request = ListControllers.Request()
  return service_caller(
  node,
@@ -70,7 +75,7 @@ def list_controllers(node, controller_manager_name, service_timeout=10.0):
  )
 
 
-def list_controller_types(node, controller_manager_name, service_timeout=10.0):
+def list_controller_types(node, controller_manager_name, service_timeout=0.0):
  request = ListControllerTypes.Request()
  return service_caller(
  node,
@@ -81,7 +86,7 @@ def list_controller_types(node, controller_manager_name, service_timeout=10.0):
  )
 
 
-def list_hardware_components(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_components(node, controller_manager_name, service_timeout=0.0):
  request = ListHardwareComponents.Request()
  return service_caller(
  node,
@@ -92,7 +97,7 @@ def list_hardware_components(node, controller_manager_name, service_timeout=10.0
  )
 
 
-def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0):
  request = ListHardwareInterfaces.Request()
  return service_caller(
  node,
@@ -103,7 +108,7 @@ def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0
  )
 
 
-def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
  request = LoadController.Request()
  request.name = controller_name
  return service_caller(
@@ -115,7 +120,7 @@ def load_controller(node, controller_manager_name, controller_name, service_time
  )
 
 
-def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0):
+def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0):
  request = ReloadControllerLibraries.Request()
  request.force_kill = force_kill
  return service_caller(
@@ -128,7 +133,7 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
 
 
 def set_hardware_component_state(
- node, controller_manager_name, component_name, lifecyle_state, service_timeout=10.0
+ node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0
 ):
  request = SetHardwareComponentState.Request()
  request.name = component_name
@@ -165,7 +170,7 @@ def switch_controllers(
  )
 
 
-def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
  request = UnloadController.Request()
  request.name = controller_name
  return service_caller(

controller_manager/controller_manager/hardware_spawner.py

@@ -15,13 +15,15 @@
 
 import argparse
 import sys
-import time
 
-from controller_manager import set_hardware_component_state
+from controller_manager import (
+ list_hardware_components,
+ set_hardware_component_state,
+)
+from controller_manager.controller_manager_services import ServiceNotFoundError
 
 from lifecycle_msgs.msg import State
 import rclpy
-from rclpy.duration import Duration
 from rclpy.node import Node
 from rclpy.signals import SignalHandlerOptions
 
@@ -43,17 +45,6 @@ def first_match(iterable, predicate):
  return next((n for n in iterable if predicate(n)), None)
 
 
-def wait_for_value_or(function, node, timeout, default, description):
- while node.get_clock().now() < timeout:
- if result := function():
- return result
- node.get_logger().info(
- f"Waiting for {description}", throttle_duration_sec=2, skip_first=True
- )
- time.sleep(0.2)
- return default
-
-
 def combine_name_and_namespace(name_and_namespace):
  node_name, namespace = name_and_namespace
  return namespace + ("" if namespace.endswith("/") else "/") + node_name
@@ -75,35 +66,11 @@ def has_service_names(node, node_name, node_namespace, service_names):
  return all(service in client_names for service in service_names)
 
 
-def wait_for_controller_manager(node, controller_manager, timeout_duration):
- # List of service names from controller_manager we wait for
- service_names = (
- f"{controller_manager}/list_hardware_components",
- f"{controller_manager}/set_hardware_component_state",
- )
-
- # Wait for controller_manager
- timeout = node.get_clock().now() + Duration(seconds=timeout_duration)
- node_and_namespace = wait_for_value_or(
- lambda: find_node_and_namespace(node, controller_manager),
- node,
- timeout,
- None,
- f"'{controller_manager}' node to exist",
- )
-
- # Wait for the services if the node was found
- if node_and_namespace:
- node_name, namespace = node_and_namespace
- return wait_for_value_or(
- lambda: has_service_names(node, node_name, namespace, service_names),
- node,
- timeout,
- False,
- f"'{controller_manager}' services to be available",
- )
-
- return False
+def is_hardware_component_loaded(
+ node, controller_manager, hardware_component, service_timeout=0.0
+):
+ components = list_hardware_components(node, hardware_component, service_timeout).component
+ return any(c.name == hardware_component for c in components)
 
 
 def handle_set_component_state_service_call(
@@ -167,10 +134,9 @@ def main(args=None):
  "--controller-manager-timeout",
  help="Time to wait for the controller manager",
  required=False,
- default=10,
- type=int,
+ default=0,
+ type=float,
  )
-
  # add arguments which are mutually exclusive
  activate_or_confiigure_grp.add_argument(
  "--activate",
@@ -202,13 +168,15 @@ def main(args=None):
  controller_manager_name = f"/{controller_manager_name}"
 
  try:
- if not wait_for_controller_manager(
- node, controller_manager_name, controller_manager_timeout
+ if not is_hardware_component_loaded(
+ node, controller_manager_name, hardware_component, controller_manager_timeout
  ):
- node.get_logger().error("Controller manager not available")
- return 1
-
- if activate:
+ node.get_logger().warn(
+ bcolors.WARNING
+ + "Hardware Component is not loaded - state can not be changed."
+ + bcolors.ENDC
+ )
+ elif activate:
  activate_components(node, controller_manager_name, hardware_component)
  elif configure:
  configure_components(node, controller_manager_name, hardware_component)
@@ -218,6 +186,11 @@ def main(args=None):
  )
  parser.print_help()
  return 0
+ except KeyboardInterrupt:
+ pass
+ except ServiceNotFoundError as err:
+ node.get_logger().fatal(str(err))
+ return 1
  finally:
  rclpy.shutdown()