Method waitForNextStepCommon

src/remote_control.cpp:140–176

}

bool RemoteControl::waitForNextStepCommon(const std::string& caption, bool autonomous)
{
  std::unique_lock<std::mutex> wait_lock(mutex_);

  // Check if we really need to wait
  if (next_step_ready_ || autonomous || !rclcpp::ok())
  {
    return true;
  }

  // Show message
  {
    RCLCPP_INFO_STREAM(logger_, CONSOLE_COLOR_CYAN << "Waiting to continue: " << caption
                                                   << CONSOLE_COLOR_RESET);
  }

  if (displayWaitingState_)
  {
    displayWaitingState_(true);
  }

  is_waiting_ = true;

  // Wait until next step is ready
  wait_next_step_.wait(wait_lock, [this]() { return next_step_ready_ || !rclcpp::ok(); });
  RCLCPP_INFO_STREAM(logger_, CONSOLE_COLOR_CYAN << "... continuing" << CONSOLE_COLOR_RESET);

  if (displayWaitingState_)
  {
    displayWaitingState_(false);
  }

  next_step_ready_ = false;
  is_waiting_ = false;

  return true;
}

}  // namespace rviz_visual_tools