don't busy wait

Signed-off-by: Brian Chen <[email protected]>

Author: ihasdapie

ros2param/ros2param/api/__init__.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 
 import sys
-import time
 import warnings
 
 from rcl_interfaces.msg import ParameterType
@@ -41,20 +40,9 @@ def get_value(*, parameter_value):
     return value
 
 
-def busy_wait_client(client, node):
-    timeout_sec = 5
-    prev = time.time()
-    while not (client.services_are_ready() or timeout_sec < 0):
-        client.wait_for_services(timeout_sec=0.1)
-        rclpy.spin_once(node)
-        timeout_sec -= prev - time.time()
-    if not client.services_are_ready():
-        raise RuntimeError('Could not reach parameter services')
-
-
 def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
     client = AsyncParameterClient(node, node_name)
-    busy_wait_client(client, node)
+    client.wait_for_services(timeout_sec=5.0)
     future = client.load_parameter_file(parameter_file, use_wildcard)
     parameters = list(parameter_dict_from_yaml_file(parameter_file, use_wildcard).values())
     rclpy.spin_until_future_complete(node, future)
@@ -77,8 +65,7 @@ def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
 
 def call_describe_parameters(*, node, node_name, parameter_names=None):
     client = AsyncParameterClient(node, node_name)
-    busy_wait_client(client, node)
-
+    client.wait_for_services(timeout_sec=5.0)
     future = client.describe_parameters(parameter_names)
     rclpy.spin_until_future_complete(node, future)
     response = future.result()
@@ -90,8 +77,7 @@ def call_describe_parameters(*, node, node_name, parameter_names=None):
 
 def call_get_parameters(*, node, node_name, parameter_names):
     client = AsyncParameterClient(node, node_name)
-    busy_wait_client(client, node)
-
+    client.wait_for_services(timeout_sec=5.0)
     future = client.get_parameters(parameter_names)
     rclpy.spin_until_future_complete(node, future)
     response = future.result()
@@ -103,8 +89,7 @@ def call_get_parameters(*, node, node_name, parameter_names):
 
 def call_set_parameters(*, node, node_name, parameters):
     client = AsyncParameterClient(node, node_name)
-    busy_wait_client(client, node)
-
+    client.wait_for_services(timeout_sec=5.0)
     future = client.set_parameters(parameters)
     rclpy.spin_until_future_complete(node, future)
     response = future.result()
@@ -116,8 +101,7 @@ def call_set_parameters(*, node, node_name, parameters):
 
 def call_list_parameters(*, node, node_name, prefixes=None):
     client = AsyncParameterClient(node, node_name)
-    busy_wait_client(client, node)
-
+    client.wait_for_services(timeout_sec=5.0)
     future = client.list_parameters(prefixes=prefixes)
     rclpy.spin_until_future_complete(node, future)
     response = future.result()