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Alternate solution for one-shot-subscribe (#666 and #667) #725

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Alternate solution for one-shot-subscribe (#666 and #667) #725

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26 changes: 15 additions & 11 deletions roseus/euslisp/roseus-utils.l
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Original file line number Diff line number Diff line change
Expand Up @@ -1132,10 +1132,13 @@
(unless (ros r :success) (ros::ros-warn "Call \"~A\" fails, it returns \"~A\"" srvname (send r :message)))
r)))

(defun one-shot-subscribe (topic-name mclass &key (timeout) (after-stamp) (unsubscribe t))
(defun one-shot-subscribe (topic-name mclass &key (timeout) (after-stamp))
"Subscribe message, just for once"
(let (lmsg)
(unless (ros::get-num-publishers topic-name)
(if (ros::get-topic-subscriber topic-name)
(progn
(ros::ros-error (format nil "There is already subscriber for ~A. If you want to use this function, please (ros::unsubscribe \"~A\")." topic-name topic-name))
(return-from one-shot-subscribe))
(cond
(after-stamp
(ros::subscribe topic-name mclass
Expand All @@ -1147,15 +1150,16 @@
(t
(ros::subscribe topic-name mclass
#'(lambda (msg) (setq lmsg msg))))))
(let ((finishtm (if timeout (ros::time-now))))
(when finishtm
(setq finishtm (ros::time+ finishtm (ros::time (/ timeout 1000.0)))))
(while (not (and finishtm
(< (send (ros::time- finishtm (ros::time-now)) :to-Sec) 0)))
(unix::usleep (* 50 1000))
(ros::spin-once)
(if lmsg (return))))
(if unsubscribe (ros::unsubscribe topic-name))
(unwind-protect
(let ((finishtm (if timeout (ros::time-now))))
(when finishtm
(setq finishtm (ros::time+ finishtm (ros::time (/ timeout 1000.0)))))
(while (not (and finishtm
(< (send (ros::time- finishtm (ros::time-now)) :to-Sec) 0)))
(unix::usleep (* 50 1000))
(ros::spin-once)
(if lmsg (return))))
(ros::unsubscribe topic-name))
lmsg))

(defun one-shot-publish (topic-name msg &key (wait 500) (after-stamp) (unadvertise t))
Expand Down