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Fix zenoh shutdown #550

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Fix zenoh shutdown #550

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ab8d800
Fix zenoh shutdown
ahcorde Oct 4, 2024
cb07ddf
make linters happy
ahcorde Oct 4, 2024
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33 changes: 17 additions & 16 deletions test_communication/test/action_server_py.py
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Original file line number Diff line number Diff line change
Expand Up @@ -153,21 +153,22 @@ def execute_goal(goal_handle):
parser.add_argument('namespace', help='namespace of the ROS node')
args = parser.parse_args()

with rclpy.init(args=[]):
node = rclpy.create_node('action_server', namespace=args.namespace)

if 'Fibonacci' == args.action_type:
action_server = receive_goals(node, Fibonacci, generate_expected_fibonacci_goals())
elif 'NestedMessage' == args.action_type:
action_server = receive_goals(
node,
NestedMessage,
generate_expected_nested_message_goals(),
)
else:
print('Unknown action type {!r}'.format(args.action_type), file=sys.stderr)
sys.exit(1)

rclpy.spin(node)
rclpy.init(args=[])
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what happens with zenoh if we use contextmanager manner with InitContextManager? i am not sure if this change is needed here because both call cleanup process through the context.

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Yes, exactly, this should not be needed. Going forward, our recommended pattern in rclpy is to use the context manager with rclpy.init, so if that is not working, there is a bug somewhere that needs to be fixed.

node = rclpy.create_node('action_server', namespace=args.namespace)

if 'Fibonacci' == args.action_type:
action_server = receive_goals(node, Fibonacci, generate_expected_fibonacci_goals())
elif 'NestedMessage' == args.action_type:
action_server = receive_goals(
node,
NestedMessage,
generate_expected_nested_message_goals(),
)
else:
print('Unknown action type {!r}'.format(args.action_type), file=sys.stderr)
sys.exit(1)

rclpy.spin(node)
rclpy.shutdown()
except (KeyboardInterrupt, ExternalShutdownException):
print('Action server stopped cleanly')
27 changes: 14 additions & 13 deletions test_communication/test/replier_py.py
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Expand Up @@ -35,23 +35,24 @@ def replier(service_name, number_of_cycles, namespace):
module = importlib.import_module(service_pkg + '.srv')
srv_mod = getattr(module, service_name)

with rclpy.init(args=[]):
node = rclpy.create_node('replier', namespace=namespace)
rclpy.init(args=[])
node = rclpy.create_node('replier', namespace=namespace)

srv_fixtures = get_test_srv(service_name)
srv_fixtures = get_test_srv(service_name)

chatter_callback = functools.partial(
replier_callback, srv_fixtures=srv_fixtures)
chatter_callback = functools.partial(
replier_callback, srv_fixtures=srv_fixtures)

node.create_service(
srv_mod, 'test/service/' + service_name, chatter_callback)
node.create_service(
srv_mod, 'test/service/' + service_name, chatter_callback)

spin_count = 1
print('replier: beginning loop')
while rclpy.ok() and spin_count < number_of_cycles:
rclpy.spin_once(node, timeout_sec=2)
spin_count += 1
print('spin_count: ' + str(spin_count))
spin_count = 1
print('replier: beginning loop')
while rclpy.ok() and spin_count < number_of_cycles:
rclpy.spin_once(node, timeout_sec=2)
spin_count += 1
print('spin_count: ' + str(spin_count))
rclpy.shutdown()


if __name__ == '__main__':
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33 changes: 17 additions & 16 deletions test_communication/test/subscriber_py.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,27 +47,28 @@ def listener(msg_name, namespace):
module = importlib.import_module(message_pkg + '.msg')
msg_mod = getattr(module, msg_name)

with rclpy.init(args=[]):
node = rclpy.create_node('listener', namespace=namespace)
rclpy.init(args=[])
node = rclpy.create_node('listener', namespace=namespace)

received_messages = []
expected_msgs = [(i, repr(msg)) for i, msg in enumerate(get_test_msg(msg_name))]
received_messages = []
expected_msgs = [(i, repr(msg)) for i, msg in enumerate(get_test_msg(msg_name))]

chatter_callback = functools.partial(
listener_cb, received_messages=received_messages, expected_msgs=expected_msgs)
chatter_callback = functools.partial(
listener_cb, received_messages=received_messages, expected_msgs=expected_msgs)

node.create_subscription(
msg_mod, 'test/message/' + msg_name, chatter_callback, 10)
node.create_subscription(
msg_mod, 'test/message/' + msg_name, chatter_callback, 10)

spin_count = 1
print('subscriber: beginning loop')
while (rclpy.ok() and len(received_messages) != len(expected_msgs)):
rclpy.spin_once(node)
spin_count += 1
print('spin_count: ' + str(spin_count))
spin_count = 1
print('subscriber: beginning loop')
while (rclpy.ok() and len(received_messages) != len(expected_msgs)):
rclpy.spin_once(node)
spin_count += 1
print('spin_count: ' + str(spin_count))

assert len(received_messages) == len(expected_msgs), \
'Should have received {} {} messages from talker'.format(len(expected_msgs), msg_name)
assert len(received_messages) == len(expected_msgs), \
'Should have received {} {} messages from talker'.format(len(expected_msgs), msg_name)
rclpy.shutdown()


if __name__ == '__main__':
Expand Down