Issue 19 one bond per user #48
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@bit-pirate bump on the review I think this pull request is superior to #19. The main difference is that #19 establishes one bond per call to #19 work flow:
This pull requests work flow:
The entire work flow is hidden by the client API, for both pull requests, this is how the client would use the from capabilities.client import Client
client = Client()
# Use the line below if the capability_server has a different name
# client = Client(capability_server_node_name='/capability_server_node_name')
client.wait_for_services() # Optional
client.use_capability('foo_pkg/Foo')
client.use_capability('foo_pkg/Foo')
client.use_capability('bar_pkg/Bar')
client.free_capability('foo_pkg/Foo')
client.shutdown() |
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| def shutdown(self): | ||
| """Cleanly frees any used capabilities.""" | ||
| self._bond.break_bond() |
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Needs a check, if self._bond exists.
| """ | ||
| # If no bond has been established, establish one first | ||
| if self._bond is None: | ||
| if self.establish_bond(timeout) is None: |
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timeout needs to be a rospy.Duration
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PR #50 fixes the two issues mentioned above. Apart from that this PR looks really nice. I tested freeing/using capabilities and corner cases, such as killing the app manager after an app depending on caps has been started, and it works well (caps get freed correctly)! 👍 |
client: adds check for existing bond and fixes timout type
This is an alternative implementation to issue #19.
It uses one bond per client instead of one bond per capability "use".
@bit-pirate for review