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fix(ros2): reject non-positive waiters time_interval #855

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fix(ros2): reject non-positive waiters time_interval #855

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2 changes: 2 additions & 0 deletions src/rai_core/rai/communication/ros2/waiters.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,8 @@ def wait_for_ros2_entities(

if timeout < 0:
raise ValueError("Timeout must be 0 (wait forever) or a positive value.")
if time_interval <= 0:
raise ValueError("time_interval must be a positive value.")
start_time = time.time()

while timeout == 0 or time.time() - start_time < timeout:
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11 changes: 11 additions & 0 deletions tests/communication/ros2/test_waiters.py
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Original file line number Diff line number Diff line change
Expand Up @@ -126,3 +126,14 @@ def test_wait_for_ros2_negative_timeout(

with pytest.raises(ValueError):
wait_func(connector, [name], time_interval=0.001, timeout=-0.01)


def test_wait_for_entities_rejects_non_positive_time_interval():
with pytest.raises(ValueError, match="time_interval"):
waiters.wait_for_ros2_entities(
["/x"], lambda: [], time_interval=0, timeout=1.0
)
with pytest.raises(ValueError, match="time_interval"):
waiters.wait_for_ros2_entities(
["/x"], lambda: [], time_interval=-0.5, timeout=1.0
)
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