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Support spin once #562

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mattrichard opened this issue Feb 13, 2020 · 0 comments · Fixed by #563
Closed

Support spin once #562

mattrichard opened this issue Feb 13, 2020 · 0 comments · Fixed by #563
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@mattrichard
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rclnodejs has no support for spin once (that I'm aware of) like in rclcpp and rclpy. In #561 I had to resort to using setTimeout instead in the unit test to wait for the event loop to finish once. At a minimum, spin once should help improve unit tests within rclnodejs and make them more reliable.
@minggangw minggangw mentioned this issue Feb 15, 2020
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@mattrichard mattrichard mentioned this issue Feb 15, 2020
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minggangw pushed a commit that referenced this issue Feb 17, 2020
@mattrichard
Implement rclnodejs.spinOnce (#563)
9db8939 
Adds spinOnce support to rclnodejs. Unlike spin which runs in a separate thread, spinOnce will run synchronously and block the caller until the event loop has finished or times-out. Ideally, this should result in more predictable execution of unit tests that rely on the event loop. spinOnce cannot be used if already spinning and will throw error if attempted.

Usage:

let node = rclnodejs.createNode('my_node');
rclnodejs.spinOnce(node);

Fix #562
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Implement rclnodejs.spinOnce
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@mattrichard @minggangw