/**
* \brief Waits for the ActionServer to connect to this client
* Often, it can take a second for the action server & client to negotiate
* a connection, thus, risking the first few goals to be dropped. This call lets
* the user wait until the network connection to the server is negotiated
* NOTE: Using this call in a single threaded ROS application, or any
* application where the action client's callback queue is not being
* serviced, will not work. Without a separate thread servicing the queue, or
* a multi-threaded spinner, there is no way for the client to tell whether
* or not the server is up because it can't receive a status message.
* \param timeout Max time to block before returning. A zero timeout is interpreted as an infinite timeout.
* \return True if the server connected in the allocated time. False on timeout
*/
public bool waitForActionServerToStart(duration timeout = default(duration))
{
int sleepTime = (int)(timeout.data.sec * 1000 + timeout.data.nsec / 1000000);
Thread.Sleep(sleepTime);
// if ros::Time::isSimTime(), then wait for it to become valid
// if(!ros::Time::waitForValid(ros::WallDuration(timeout.sec, timeout.nsec)))
// return false;
if (connectionMonitor != null)
{
return(connectionMonitor.waitForActionServerToStart(timeout, nodeHandle));
}
else
{
return(false);
}
}
/// <summary>
/// Convert std_msgs/Duration into TimeSpan struct
/// </summary>
/// <param name="time"> std_msgs.Duration to convert </param>
/// <returns> a TimeSpan </returns>
public static TimeSpan ToTimeSpan(this std_msgs.Duration duration)
{
return(new TimeSpan(duration.data.Ticks));
}
/// <summary>
/// Turns a std_msgs.Duration into a TimeSpan
/// </summary>
/// <param name="time"> std_msgs.Duration to convert </param>
/// <returns> a TimeSpan </returns>
public static TimeSpan GetTime(m.Duration duration)
{
return(new TimeSpan(ticksFromData(duration.data)));
}