def test_waitable_with_client(self):
self.waitable = ClientWaitable(self.node)
self.node.add_waitable(self.waitable)
server = self.node.create_service(EmptySrv, 'test_client', lambda req, resp: resp)
while not _rclpy.rclpy_service_server_is_available(self.node.handle, self.waitable.client):
time.sleep(0.1)
thr = self.start_spin_thread(self.waitable)
_rclpy.rclpy_send_request(self.waitable.client, EmptySrv.Request())
thr.join()
assert self.waitable.future.done()
assert isinstance(self.waitable.future.result()['client'], EmptySrv.Response)
self.node.destroy_service(server)
def call_async(self, request: SrvTypeRequest) -> Future:
"""
Make a service request and asyncronously get the result.
:param request: The service request.
:return: A future that completes when the request does.
:raises: TypeError if the type of the passed request isn't an instance
of the Request type of the provided service when the client was
constructed.
"""
if not isinstance(request, self.srv_type.Request):
raise TypeError()
with self.handle as capsule:
sequence_number = _rclpy.rclpy_send_request(capsule, request)
if sequence_number in self._pending_requests:
raise RuntimeError('Sequence (%r) conflicts with pending request' %
sequence_number)
future = Future()
self._pending_requests[sequence_number] = future
future.add_done_callback(self.remove_pending_request)
return future
def call_async(self, req):
"""
Make a service request and asyncronously get the result.
:return: a Future instance that completes when the request does
:rtype: :class:`rclpy.task.Future` instance
"""
sequence_number = _rclpy.rclpy_send_request(self.client_handle, req)
if sequence_number in self._pending_requests:
raise RuntimeError('Sequence (%r) conflicts with pending request' %
sequence_number)
future = Future()
self._pending_requests[sequence_number] = future
future.add_done_callback(self.remove_pending_request)
return future
def call_async(self, request: SrvTypeRequest) -> Future:
"""
Make a service request and asyncronously get the result.
:param request: The service request.
:return: A future that completes when the request does.
"""
sequence_number = _rclpy.rclpy_send_request(self.client_handle,
request)
if sequence_number in self._pending_requests:
raise RuntimeError('Sequence (%r) conflicts with pending request' %
sequence_number)
future = Future()
self._pending_requests[sequence_number] = future
future.add_done_callback(self.remove_pending_request)
return future
def call(self, req):
self.response = None
self.sequence_number = _rclpy.rclpy_send_request(self.client_handle, req)
def call(self, req):
self.response = None
self.sequence_number = _rclpy.rclpy_send_request(self.client_handle, req)