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Make rclpy.spin*() use a persistent executor#176

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sloretz merged 3 commits intomasterfrom
rclpy_global_executor
Apr 13, 2018
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Make rclpy.spin*() use a persistent executor#176
sloretz merged 3 commits intomasterfrom
rclpy_global_executor

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@sloretz sloretz commented Feb 2, 2018 •
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This fixes a bug where coroutine callbacks that yield while being handled in rclpy.spin_once() never get executed again. The task is stored in the executor, but the executor is thrown away after spinning.

This PR makes the global methods reuse an executor. The test checks that a task which yields during rclpy.spin_once() gets resumed on a second invocation.

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@sloretz sloretz added bug Something isn't working in review Waiting for review (Kanban column) labels Feb 2, 2018
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@sloretz sloretz self-assigned this Feb 7, 2018
@mikaelarguedas mikaelarguedas added this to the bouncy milestone Mar 1, 2018
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mikaelarguedas previously approved these changes Mar 26, 2018
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lgtm, with reran CI since it's been a while

@sloretz sloretz added in progress Actively being worked on (Kanban column) and removed in review Waiting for review (Kanban column) labels Mar 27, 2018
@sloretz sloretz force-pushed the rclpy_global_executor branch from b7d61f9 to 2de8cb7 Compare March 29, 2018 19:01
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sloretz commented Mar 29, 2018 •
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FYI @mikaelarguedas I rebased with master. It means spin_until_future_complete has been updated to use a persistent executor. While in the neighborhood I also added doc strings to spin() and spin_once()

@sloretz sloretz added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Mar 29, 2018
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mikaelarguedas commented Apr 5, 2018

@mikaelarguedas PTAL

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rclpy/rclpy/__init__.py Outdated
if the global executor has a partially completed coroutine.

:param node: A node to add to the executor to check for work.
:param timeout_sec: Maximum time in seconds to wait for work.
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Is this blocking forever if negative timeout provided? Is the default behavior to wait forever as well? (I guess it's yes in both questions, but it may be worth mentioning it in the docblock

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Yup. I copy/pasted the timeout_sec documentation from executor.spin_once() in 93e42b5

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sloretz commented Apr 11, 2018

New commit is only a docstring change, so running CI Linux testing only rclpy to run linters

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lgtm

@sloretz sloretz merged commit 4c6ee03 into master Apr 13, 2018
@sloretz sloretz deleted the rclpy_global_executor branch April 13, 2018 15:18
@sloretz sloretz removed the in review Waiting for review (Kanban column) label Apr 13, 2018
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