REQREPLY-221: Apply PR feedback

examples/connext_dds/remote_procedure_call/c++11/application.hpp

@@ -85,7 +85,7 @@ inline ApplicationArguments parse_arguments(int argc, char *argv[], bool client)
     unsigned int domain_id = 0;
     unsigned int quantity = 1;
     unsigned int delay = 0;
-    unsigned int service_timeout = 60;
+    unsigned int service_timeout = INT32_MAX;
     std::string item_name = "";
     bool add = true;
     rti::config::Verbosity verbosity(rti::config::Verbosity::EXCEPTION);
@@ -165,7 +165,7 @@ inline ApplicationArguments parse_arguments(int argc, char *argv[], bool client)
         "    -q, --quantity <int>        Number of items to add or remove\n"\
         "                                Default: 1\n"
         "    -s, --service-timeout <int> Numbers of senconds the service will run\n"\
-        "                                Default: 60\n"
+        "                                Default: infinite\n"
         "    -v, --verbosity    <int>    How much debugging output to show.\n"\
         "                                Range: 0-3 \n"
         "                                Default: 1"

examples/connext_dds/remote_procedure_call/py/README.md

@@ -111,7 +111,7 @@ If you want to modify the DDS Service in the idl you will have to re-generate
 the service code using **rtiddsgen**
 
 ```sh
-<install dir>/bin/rtiddsgen -language Python -replace Inventory.idl
+<install dir>/bin/rtiddsgen -language Python -update typefiles Inventory.idl
 ```
 
 Where `<install dir>` refers to your RTI Connext installation.

examples/connext_dds/remote_procedure_call/py/inventory_client.py

@@ -21,14 +21,21 @@ class InventoryClient(InventoryService, rpc.ClientBase):
     ...
 
 
+async def wait_for_service(client: InventoryClient):
+    while client.matched_service_count == 0:
+        await sleep(0.1)
+
+
 async def run_client(args):
     participant = dds.DomainParticipant(args.domain)
     client = InventoryClient(
         participant, "Inventory", max_wait_per_call=dds.Duration(20)
     )
 
-    # Wait until the service is started
-    await client.wait_for_service_async(dds.Duration(20))
+    # For versions 7.4.0 and below:
+    await wait_for_service(client)
+    # For newer versions you can use the following:
+    #await client.wait_for_service_async(dds.Duration(20))
 
     print("Initial inventory: ", await client.get_inventory())
 

examples/connext_dds/remote_procedure_call/py/inventory_service.py

@@ -11,6 +11,7 @@
 
 import argparse
 import asyncio
+import sys
 import rti.connextdds as dds
 import rti.rpc as rpc
 import rti.asyncio
@@ -88,10 +89,10 @@ async def main():
 
     parser.add_argument(
         "-s",
-        "--server-timeout",
+        "--service-timeout",
         type=int,
-        default=60,
-        help="Numbers of senconds the service will run (default: 60)",
+        default=sys.maxsize,
+        help="Numbers of senconds the service will run (default: infinite)",
     )
 
     args = parser.parse_args()
@@ -102,7 +103,7 @@ async def main():
     print("InventoryService running...")
     service_task = asyncio.create_task(run_service(service))
 
-    await asyncio.sleep(args.server_timeout)
+    await asyncio.sleep(args.service_timeout)
 
     service_task.cancel()
 

examples/connext_dds/request_reply/cs/PrimesProgram.cs

@@ -63,17 +63,9 @@ public static async Task Main(string[] args)
             }
 
             // Set up signal handler to Dispose the DDS entities
-            var cancellationSource = new CancellationTokenSource();
-            var timeoutTask = Task.Delay(TimeSpan.FromSeconds(arguments.Timeout), cancellationSource.Token)
-            .ContinueWith(_ =>
-            {
-                if (!cancellationSource.IsCancellationRequested)
-                {
-                    Console.WriteLine("Shutting down due to timeout...");
-                    cancellationSource.Cancel();
-                }
-            }, TaskScheduler.Default);
-
+            var cancellationSource = arguments.Timeout > 0
+                ? new CancellationTokenSource(TimeSpan.FromSeconds(arguments.Timeout))
+                : new CancellationTokenSource();
             Console.CancelKeyPress += (_, eventArgs) =>
             {
                 Console.WriteLine("Shutting down...");
@@ -138,8 +130,8 @@ private static Arguments ParseArguments(string[] args)
                 getDefaultValue: () => 5),
                 new System.CommandLine.Option<int>(
                     new string[] { "--timeout" },
-                getDefaultValue: () => 120,
-                description: "Timeout in seconds to wait for the application to finish")
+                getDefaultValue: () => 0,
+                description: "Timeout in seconds to wait for the application to finish (default: infinite)"),
             };
 
             rootCommand.Description = "Example RTI Connext Requester and Replier";

tutorials/rpc/py/robot_client.py

@@ -19,12 +19,18 @@
 class RobotControlClient(RobotControl, rpc.ClientBase):
     pass
 
+async def wait_for_service(client: RobotControlClient):
+    while client.matched_service_count == 0:
+        await sleep(0.1)
 
 async def main():
     participant = dds.DomainParticipant(domain_id=0)
     client = RobotControlClient(participant, "MyRobotControl")
 
-    await client.wait_for_service_async(dds.Duration(20))
+    # For versions 7.4.0 and below:
+    await wait_for_service(client)
+    # For newer versions you can use the following:
+    # await client.wait_for_service_async(dds.Duration(20))
 
     print("Calling walk_to...")
     result = await client.walk_to(