Integrated feedback, and fixes to have tests to pass

plansys2_bringup/params/plansys2_params.yaml

@@ -1,9 +1,9 @@
 planner_client:
   ros__parameters:
-    plan_solver_timeout: 15  
+    plan_solver_timeout: 15.0  
 planner:
   ros__parameters:
-    plan_solver_timeout: 15  
+    plan_solver_timeout: 15.0  
     plan_solver_plugins: ["POPF"]
     POPF:
       plugin: "plansys2/POPFPlanSolver"

plansys2_core/include/plansys2_core/PlanSolverBase.hpp

@@ -24,6 +24,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
+using namespace std::chrono_literals;
+
 namespace plansys2
 {
 
@@ -53,7 +55,7 @@ class PlanSolverBase
   virtual std::optional<plansys2_msgs::msg::Plan> getPlan(
     const std::string & domain, const std::string & problem,
     const std::string & node_namespace = "",
-    const int solver_timeout = 15) = 0;
+    const rclcpp::Duration solver_timeout = 15s) = 0;
 
   /**
    * @brief Exposes a capability to validate a PDDL domain.

plansys2_planner/include/plansys2_planner/PlannerClient.hpp

@@ -42,7 +42,7 @@ class PlannerClient : public PlannerInterface
     get_plan_client_;
 
   rclcpp::Node::SharedPtr node_;
-  int solver_timeout_ = 15;
+  rclcpp::Duration solver_timeout_ = rclcpp::Duration(15, 0);
 };
 
 }  // namespace plansys2

plansys2_planner/include/plansys2_planner/PlannerNode.hpp

@@ -74,7 +74,7 @@ class PlannerNode : public rclcpp_lifecycle::LifecycleNode
   std::vector<std::string> default_types_;
   std::vector<std::string> solver_ids_;
   std::vector<std::string> solver_types_;
-  int solver_timeout_;
+  rclcpp::Duration solver_timeout_;
 
   rclcpp::Service<plansys2_msgs::srv::GetPlan>::SharedPtr
     get_plan_service_;

plansys2_planner/src/plansys2_planner/PlannerClient.cpp

@@ -29,10 +29,14 @@ PlannerClient::PlannerClient()
 
   get_plan_client_ = node_->create_client<plansys2_msgs::srv::GetPlan>("planner/get_plan");
 
-  node_->declare_parameter("plan_solver_timeout", solver_timeout_);
+  double timeout;
+  node_->declare_parameter("plan_solver_timeout", timeout);
 
-  node_->get_parameter("plan_solver_timeout", solver_timeout_);
-  RCLCPP_INFO(node_->get_logger(), "Planner CLient created with timeout %d", solver_timeout_);
+  node_->get_parameter("plan_solver_timeout", timeout);
+  solver_timeout_ = rclcpp::Duration((int32_t)timeout, 0);
+  RCLCPP_INFO(
+    node_->get_logger(), "Planner CLient created with timeout %g",
+    solver_timeout_.seconds());
 }
 
 std::optional<plansys2_msgs::msg::Plan>
@@ -49,10 +53,10 @@ PlannerClient::getPlan(
       get_plan_client_->get_service_name() <<
         " service  client: waiting for service to appear...");
   }
-  int timeout = solver_timeout_;
+  int32_t timeout = solver_timeout_.seconds();
   if (timeout <= 0) {
     std::string timeout_str = "Get Plan service called with negative timed out:";
-    timeout_str += std::to_string(solver_timeout_);
+    timeout_str += std::to_string(timeout);
     timeout_str += ". Setting to 15 seconds";
     RCLCPP_ERROR(node_->get_logger(), timeout_str.c_str());
     timeout = 15;

plansys2_planner/src/plansys2_planner/PlannerNode.cpp

@@ -22,18 +22,21 @@
 
 #include "lifecycle_msgs/msg/state.hpp"
 
+using namespace std::chrono_literals;
+
 namespace plansys2
 {
 
 PlannerNode::PlannerNode()
 : rclcpp_lifecycle::LifecycleNode("planner"),
   lp_loader_("plansys2_core", "plansys2::PlanSolverBase"),
   default_ids_{},
-  default_types_{}
+  default_types_{},
+  solver_timeout_(15s)
 {
   declare_parameter("plan_solver_plugins", default_ids_);
-  solver_timeout_ = 15;
-  declare_parameter("plan_solver_timeout", solver_timeout_);
+  double timeout = solver_timeout_.seconds();
+  declare_parameter("plan_solver_timeout", timeout);
 }
 
 
@@ -44,11 +47,14 @@ CallbackReturnT
 PlannerNode::on_configure(const rclcpp_lifecycle::State & state)
 {
   auto node = shared_from_this();
+  double timeout;
 
   RCLCPP_INFO(get_logger(), "[%s] Configuring...", get_name());
 
   get_parameter("plan_solver_plugins", solver_ids_);
-  get_parameter("plan_solver_timeout", solver_timeout_);
+  get_parameter("plan_solver_timeout", timeout);
+
+  solver_timeout_ = rclcpp::Duration((int32_t)timeout, 0);
 
   if (!solver_ids_.empty()) {
     if (solver_ids_ == default_ids_) {
@@ -86,7 +92,7 @@ PlannerNode::on_configure(const rclcpp_lifecycle::State & state)
       "POPF", "plansys2/POPFPlanSolver");
   }
 
-  RCLCPP_INFO(get_logger(), "[%s] Solver Timeout %d", get_name(), solver_timeout_);
+  RCLCPP_INFO(get_logger(), "[%s] Solver Timeout %g", get_name(), solver_timeout_.seconds());
 
   get_plan_service_ = create_service<plansys2_msgs::srv::GetPlan>(
     "planner/get_plan",

plansys2_popf_plan_solver/include/plansys2_popf_plan_solver/popf_plan_solver.hpp

@@ -22,6 +22,9 @@
 
 #include "plansys2_core/PlanSolverBase.hpp"
 
+// using namespace std::chrono_literals;
+using std::chrono_literals::operator""s;
+
 namespace plansys2
 {
 
@@ -42,7 +45,7 @@ class POPFPlanSolver : public PlanSolverBase
   std::optional<plansys2_msgs::msg::Plan> getPlan(
     const std::string & domain, const std::string & problem,
     const std::string & node_namespace = "",
-    const int solver_timeout = 15);
+    const rclcpp::Duration solver_timeout = 15s);
 
   bool isDomainValid(
     const std::string & domain,

plansys2_popf_plan_solver/src/plansys2_popf_plan_solver/popf_plan_solver.cpp

@@ -84,7 +84,7 @@ std::optional<plansys2_msgs::msg::Plan>
 POPFPlanSolver::getPlan(
   const std::string & domain, const std::string & problem,
   const std::string & node_namespace,
-  const int solver_timeout)
+  const rclcpp::Duration solver_timeout)
 {
   if (system(nullptr) == 0) {
     return {};
@@ -114,7 +114,7 @@ POPFPlanSolver::getPlan(
 
   RCLCPP_INFO(
     lc_node_->get_logger(), "[%s-popf] called with timeout %d seconds",
-    lc_node_->get_name(), solver_timeout);
+    lc_node_->get_name(), solver_timeout.seconds());
 
   const auto plan_file_path = output_dir / std::filesystem::path("plan");
   const auto args = lc_node_->get_parameter(arguments_parameter_name_).value_to_string();