Reapply "Catch the exception from rate.sleep() if the context is invalid. (#2956)" (#2963) (#2964)

This reverts commit 6fbf039.

Signed-off-by: Tomoya Fujita <[email protected]>

Author: fujitatomoya

rclcpp/src/rclcpp/rate.cpp

@@ -67,7 +67,13 @@ Rate::sleep()
   // Calculate the time to sleep
   auto time_to_sleep = next_interval - now;
   // Sleep (will get interrupted by ctrl-c, may not sleep full time)
-  clock_->sleep_for(time_to_sleep);
+  try {
+    // If the context is invalid, an exception will be thrown.
+    clock_->sleep_for(time_to_sleep);
+  } catch (const std::runtime_error & e) {
+    // If it didn't sleep the full time, return false
+    return false;
+  }
   return true;
 }
 

rclcpp/test/rclcpp/test_rate.cpp

@@ -173,3 +173,12 @@ TEST_F(TestRate, incorrect_constuctor) {
     rclcpp::Rate rate(rclcpp::Duration(-1, 0)),
     std::invalid_argument("period must be greater than 0"));
 }
+
+TEST(TestRateBasic, invalid_context) {
+  rclcpp::init(0, nullptr);
+  rclcpp::Rate rate(1.0);
+  ASSERT_TRUE(rate.sleep());
+  rclcpp::shutdown();
+  EXPECT_NO_THROW(rate.sleep());
+  ASSERT_FALSE(rate.sleep());
+}