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Use PyCapsule names #129

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Merged
sloretz merged 12 commits into from
Oct 25, 2017
Merged

Use PyCapsule names #129

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d3cdbaf
Use PyCapsule names
sloretz Oct 17, 2017
0840184
rclpy_destroy_entity takes 1 arg
sloretz Oct 24, 2017
8abfd9b
Intermediate list not necessary
sloretz Oct 24, 2017
451a072
Documentation fixes
sloretz Oct 24, 2017
25d2b03
homogenize docblock for ValueError + few typos
mikaelarguedas Oct 25, 2017
d12a127
homogenize error strings and quote strings
mikaelarguedas Oct 25, 2017
6a19600
Merge pull request #133 from ros2/rclpy_named_capsules_fixups
sloretz Oct 25, 2017
1561483
Ordered stuff: pub, sub, cli, srv, tmr, gc
sloretz Oct 25, 2017
104baeb
Line length
sloretz Oct 25, 2017
095267c
missed some capsule names
mikaelarguedas Oct 25, 2017
76f4359
basic check for service_names_and_types()
sloretz Oct 25, 2017
d4048f6
basic checks of topic_names_and_types and get_node_names()
sloretz Oct 25, 2017
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2 changes: 1 addition & 1 deletion rclpy/rclpy/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ def run(self):
_rclpy.rclpy_get_ready_entities('guard_condition', self.wait_set)

# destroying here to make sure we dont call shutdown before cleaning up
_rclpy.rclpy_destroy_entity('guard_condition', sigint_gc)
_rclpy.rclpy_destroy_entity(sigint_gc)
if sigint_gc_handle in guard_condition_ready_list:
rclpy.utilities.shutdown()
return
Expand Down
6 changes: 3 additions & 3 deletions rclpy/rclpy/executors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,14 +110,14 @@ def shutdown(self, timeout_sec=None):
# Clean up stuff that won't be used anymore
with self._nodes_lock:
self._nodes = set()
_rclpy.rclpy_destroy_entity('guard_condition', self._guard_condition)
_rclpy.rclpy_destroy_entity(self._guard_condition)

self._guard_condition = None
return True

def __del__(self):
if self._guard_condition is not None:
_rclpy.rclpy_destroy_entity('guard_condition', self._guard_condition)
_rclpy.rclpy_destroy_entity(self._guard_condition)

def add_node(self, node):
"""
Expand Down Expand Up @@ -343,7 +343,7 @@ def wait_for_ready_callbacks(self, timeout_sec=None, nodes=None):
# Check sigint guard condition
if sigint_gc_handle in guards_ready:
raise KeyboardInterrupt
_rclpy.rclpy_destroy_entity('guard_condition', sigint_gc)
_rclpy.rclpy_destroy_entity(sigint_gc)

# Mark all guards as triggered before yielding any handlers since they're auto-taken
for gc in [g for g in guards if g.guard_pointer in guards_ready]:
Expand Down
99 changes: 36 additions & 63 deletions rclpy/rclpy/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,11 +51,11 @@ def check_for_type_support(msg_type):
class Node:

def __init__(self, node_name, *, namespace=None):
self.clients = []
self._handle = None
self.publishers = []
self.services = []
self.subscriptions = []
self.clients = []
self.services = []
self.timers = []
self.guards = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
Expand Down Expand Up @@ -208,53 +208,47 @@ def create_guard_condition(self, callback, callback_group=None):
def destroy_publisher(self, publisher):
for pub in self.publishers:
if pub.publisher_handle == publisher.publisher_handle:
_rclpy.rclpy_destroy_node_entity(
'publisher', pub.publisher_handle, self.handle)
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle, self.handle)
self.publishers.remove(pub)
return True
return False

def destroy_subscription(self, subscription):
for sub in self.subscriptions:
if sub.subscription_handle == subscription.subscription_handle:
_rclpy.rclpy_destroy_node_entity(
'subscription', sub.subscription_handle, self.handle)
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle, self.handle)
self.subscriptions.remove(sub)
return True
return False

def destroy_service(self, service):
for srv in self.services:
if srv.service_handle == service.service_handle:
_rclpy.rclpy_destroy_node_entity(
'service', srv.service_handle, self.handle)
self.services.remove(srv)
return True
return False

def destroy_client(self, client):
for cli in self.clients:
if cli.client_handle == client.client_handle:
_rclpy.rclpy_destroy_node_entity(
'client', cli.client_handle, self.handle)
_rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
self.clients.remove(cli)
return True
return False

def destroy_service(self, service):
for srv in self.services:
if srv.service_handle == service.service_handle:
_rclpy.rclpy_destroy_node_entity(srv.service_handle, self.handle)
self.services.remove(srv)
return True
return False

def destroy_timer(self, timer):
for tmr in self.timers:
if tmr.timer_handle == timer.timer_handle:
_rclpy.rclpy_destroy_entity(
'timer', tmr.timer_handle)
_rclpy.rclpy_destroy_entity(tmr.timer_handle)
self.timers.remove(tmr)
return True
return False

def destroy_guard_condition(self, guard):
for gc in self.guards:
if gc.guard_handle == guard.guard_handle:
_rclpy.rclpy_destroy_entity(
'guard_condition', gc.guard_handle)
_rclpy.rclpy_destroy_entity(gc.guard_handle)
self.guards.remove(gc)
return True
return False
Expand All @@ -264,49 +258,28 @@ def destroy_node(self):
if self.handle is None:
return ret

# ensure that the passed node contains a valid capsule
class_ = self.handle.__class__
if not class_ or class_.__name__ != 'PyCapsule':
raise ValueError('The node handle must be a PyCapsule')
for pub in self.publishers:
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle, self.handle)
for sub in self.subscriptions:
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle, self.handle)
for cli in self.clients:
_rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
for srv in self.services:
_rclpy.rclpy_destroy_node_entity(srv.service_handle, self.handle)
for tmr in self.timers:
_rclpy.rclpy_destroy_entity(tmr.timer_handle)
for gc in self.guards:
_rclpy.rclpy_destroy_entity(gc.guard_handle)

self.publishers = []
self.subscriptions = []
self.clients = []
self.services = []
self.timers = []
self.guards = []

@dirk-thomas dirk-thomas Oct 25, 2017

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Nitpick: maybe use the same order as above for the loops? That allows easier comparison that the same variables are used in both.

@sloretz sloretz Oct 25, 2017

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pub, sub, cli, srv, tmr, gc 1561483


for sub in list(self.subscriptions):
destroyed = _rclpy.rclpy_destroy_node_entity(
'subscription', sub.subscription_handle, self.handle)
if destroyed:
self.subscriptions.remove(sub)
ret &= destroyed
for pub in list(self.publishers):
destroyed = _rclpy.rclpy_destroy_node_entity(
'publisher', pub.publisher_handle, self.handle)
if destroyed:
self.publishers.remove(pub)
ret &= destroyed
for cli in list(self.clients):
destroyed = _rclpy.rclpy_destroy_node_entity(
'client', cli.client_handle, self.handle)
if destroyed:
self.clients.remove(cli)
ret &= destroyed
for srv in list(self.services):
destroyed = _rclpy.rclpy_destroy_node_entity(
'service', srv.service_handle, self.handle)
if destroyed:
self.services.remove(srv)
ret &= destroyed
for tmr in list(self.timers):
destroyed = _rclpy.rclpy_destroy_entity('timer', tmr.timer_handle)
if destroyed:
self.timers.remove(tmr)
ret &= destroyed
for gc in list(self.guards):
destroyed = _rclpy.rclpy_destroy_entity('guard_condition', gc.guard_handle)
if destroyed:
self.guards.remove(gc)
ret &= destroyed
destroyed = _rclpy.rclpy_destroy_entity('node', self.handle)
if destroyed:
self._handle = None
ret &= destroyed
_rclpy.rclpy_destroy_entity(self.handle)
self._handle = None
return ret

def get_topic_names_and_types(self, no_demangle=False):
Expand Down
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