Handle on waiting (backport #1562) (#1680)

* 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

@@ -169,11 +169,15 @@ if(BUILD_TESTING)
   ament_add_gmock(
     test_spawner_unspawner
     test/test_spawner_unspawner.cpp
+    TIMEOUT 120
   )
   target_include_directories(test_spawner_unspawner PRIVATE include)
   target_link_libraries(test_spawner_unspawner ${PROJECT_NAME} test_controller)
   ament_target_dependencies(test_spawner_unspawner 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(
@@ -127,7 +132,9 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
     )
 
 
-def set_hardware_component_state(node, controller_manager_name, component_name, lifecyle_state):
+def set_hardware_component_state(
+    node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0
+):
     request = SetHardwareComponentState.Request()
     request.name = component_name
     request.target_state = lifecyle_state
@@ -162,7 +169,7 @@ 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
 
@@ -43,18 +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:
-        result = function()
-        if result:
-            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
@@ -76,35 +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(
@@ -168,10 +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",
@@ -203,13 +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)
@@ -219,6 +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()