Switch to using the rclpy context manager everywhere. (#389)

* Switch to using the rclpy context manager everywhere. This lets us use less code, but still effectively manage the lifetime of the rclpy.init. We also change ExternalShutdownException handling to work just like a KeyboardInterrupt. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Jul 24, 2024 · 291c789 · 291c789
1 parent f13e6d7
commit 291c789
Show file tree

Hide file tree

Showing 29 changed files with 355 additions and 477 deletions.
diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 from action_msgs.msg import GoalStatus
 from example_interfaces.action import Fibonacci
 
@@ -71,18 +69,15 @@ def send_goal(self):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
     try:
-        action_client = MinimalActionClient()
+        with rclpy.init(args=args):
+            action_client = MinimalActionClient()
 
-        action_client.send_goal()
+            action_client.send_goal()
 
-        rclpy.spin(action_client)
-    except KeyboardInterrupt:
+            rclpy.spin(action_client)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_asyncio.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_asyncio.py
@@ -19,6 +19,7 @@
 
 import rclpy
 from rclpy.action import ActionClient
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 
 
@@ -69,48 +70,49 @@ async def spinning(node):
 
 async def run(args, loop):
 
-    logger = rclpy.logging.get_logger('minimal_action_client')
+    # init ROS 2
+    with rclpy.init(args=args):
+        logger = rclpy.logging.get_logger('minimal_action_client')
 
-    # init ros2
-    rclpy.init(args=args)
+        # create node
+        action_client = MinimalActionClientAsyncIO()
 
-    # create node
-    action_client = MinimalActionClientAsyncIO()
+        # start spinning
+        spin_task = loop.create_task(spinning(action_client))
 
-    # start spinning
-    spin_task = loop.create_task(spinning(action_client))
+        # Parallel example
+        # execute goal request and schedule in loop
+        my_task1 = loop.create_task(action_client.send_goal())
+        my_task2 = loop.create_task(action_client.send_goal())
 
-    # Parallel example
-    # execute goal request and schedule in loop
-    my_task1 = loop.create_task(action_client.send_goal())
-    my_task2 = loop.create_task(action_client.send_goal())
+        # glue futures together and wait
+        wait_future = asyncio.wait([my_task1, my_task2])
+        # run event loop
+        finished, unfinished = await wait_future
+        logger.info(f'unfinished: {len(unfinished)}')
+        for task in finished:
+            logger.info('result {} and status flag {}'.format(*task.result()))
 
-    # glue futures together and wait
-    wait_future = asyncio.wait([my_task1, my_task2])
-    # run event loop
-    finished, unfinished = await wait_future
-    logger.info(f'unfinished: {len(unfinished)}')
-    for task in finished:
-        logger.info('result {} and status flag {}'.format(*task.result()))
+        # Sequence
+        result, status = await loop.create_task(action_client.send_goal())
+        logger.info(f'A) result {result} and status flag {status}')
+        result, status = await loop.create_task(action_client.send_goal())
+        logger.info(f'B) result {result} and status flag {status}')
 
-    # Sequence
-    result, status = await loop.create_task(action_client.send_goal())
-    logger.info(f'A) result {result} and status flag {status}')
-    result, status = await loop.create_task(action_client.send_goal())
-    logger.info(f'B) result {result} and status flag {status}')
-
-    # cancel spinning task
-    spin_task.cancel()
-    try:
-        await spin_task
-    except asyncio.exceptions.CancelledError:
-        pass
-    rclpy.shutdown()
+        # cancel spinning task
+        spin_task.cancel()
+        try:
+            await spin_task
+        except asyncio.exceptions.CancelledError:
+            pass
 
 
 def main(args=None):
-    loop = asyncio.get_event_loop()
-    loop.run_until_complete(run(args, loop=loop))
+    try:
+        loop = asyncio.get_event_loop()
+        loop.run_until_complete(run(args, loop=loop))
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
 
 
 if __name__ == '__main__':

diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_cancel.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_cancel.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 from example_interfaces.action import Fibonacci
 
 import rclpy
@@ -79,18 +77,15 @@ def send_goal(self):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
     try:
-        action_client = MinimalActionClient()
+        with rclpy.init(args=args):
+            action_client = MinimalActionClient()
 
-        action_client.send_goal()
+            action_client.send_goal()
 
-        rclpy.spin(action_client)
-    except KeyboardInterrupt:
+            rclpy.spin(action_client)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/...tions/minimal_action_client/examples_rclpy_minimal_action_client/client_not_composable.py b/...tions/minimal_action_client/examples_rclpy_minimal_action_client/client_not_composable.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-
 from action_msgs.msg import GoalStatus
 
 from example_interfaces.action import Fibonacci
@@ -28,53 +26,48 @@ def feedback_cb(logger, feedback):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
     try:
-        node = rclpy.create_node('minimal_action_client')
+        with rclpy.init(args=args):
+            node = rclpy.create_node('minimal_action_client')
 
-        action_client = ActionClient(node, Fibonacci, 'fibonacci')
+            action_client = ActionClient(node, Fibonacci, 'fibonacci')
 
-        node.get_logger().info('Waiting for action server...')
+            node.get_logger().info('Waiting for action server...')
 
-        action_client.wait_for_server()
+            action_client.wait_for_server()
 
-        goal_msg = Fibonacci.Goal()
-        goal_msg.order = 10
+            goal_msg = Fibonacci.Goal()
+            goal_msg.order = 10
 
-        node.get_logger().info('Sending goal request...')
+            node.get_logger().info('Sending goal request...')
 
-        send_goal_future = action_client.send_goal_async(
-            goal_msg, feedback_callback=lambda feedback: feedback_cb(node.get_logger(), feedback))
+            send_goal_future = action_client.send_goal_async(
+                goal_msg,
+                feedback_callback=lambda feedback: feedback_cb(node.get_logger(), feedback))
 
-        rclpy.spin_until_future_complete(node, send_goal_future)
+            rclpy.spin_until_future_complete(node, send_goal_future)
 
-        goal_handle = send_goal_future.result()
+            goal_handle = send_goal_future.result()
 
-        if not goal_handle.accepted:
-            node.get_logger().info('Goal rejected :(')
-            action_client.destroy()
-            node.destroy_node()
-            rclpy.shutdown()
-            return
+            if not goal_handle.accepted:
+                node.get_logger().info('Goal rejected :(')
+                return
 
-        node.get_logger().info('Goal accepted :)')
+            node.get_logger().info('Goal accepted :)')
 
-        get_result_future = goal_handle.get_result_async()
+            get_result_future = goal_handle.get_result_async()
 
-        rclpy.spin_until_future_complete(node, get_result_future)
+            rclpy.spin_until_future_complete(node, get_result_future)
 
-        result = get_result_future.result().result
-        status = get_result_future.result().status
-        if status == GoalStatus.STATUS_SUCCEEDED:
-            node.get_logger().info(
-               'Goal succeeded! Result: {0}'.format(result.sequence))
-        else:
-            node.get_logger().info('Goal failed with status code: {0}'.format(status))
-    except KeyboardInterrupt:
+            result = get_result_future.result().result
+            status = get_result_future.result().status
+            if status == GoalStatus.STATUS_SUCCEEDED:
+                node.get_logger().info(
+                   'Goal succeeded! Result: {0}'.format(result.sequence))
+            else:
+                node.get_logger().info('Goal failed with status code: {0}'.format(status))
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
 import time
 
 from example_interfaces.action import Fibonacci
@@ -92,19 +91,16 @@ async def execute_callback(self, goal_handle):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
     try:
-        minimal_action_server = MinimalActionServer()
+        with rclpy.init(args=args):
+            minimal_action_server = MinimalActionServer()
 
-        # Use a MultiThreadedExecutor to enable processing goals concurrently
-        executor = MultiThreadedExecutor()
+            # Use a MultiThreadedExecutor to enable processing goals concurrently
+            executor = MultiThreadedExecutor()
 
-        rclpy.spin(minimal_action_server, executor=executor)
-    except KeyboardInterrupt:
+            rclpy.spin(minimal_action_server, executor=executor)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_defer.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_defer.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
 import time
 
 from example_interfaces.action import Fibonacci
@@ -106,19 +105,16 @@ async def execute_callback(self, goal_handle):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-
     try:
-        minimal_action_server = MinimalActionServer()
+        with rclpy.init(args=args):
+            minimal_action_server = MinimalActionServer()
 
-        # Use a MultiThreadedExecutor to enable processing goals concurrently
-        executor = MultiThreadedExecutor()
+            # Use a MultiThreadedExecutor to enable processing goals concurrently
+            executor = MultiThreadedExecutor()
 
-        rclpy.spin(minimal_action_server, executor=executor)
-    except KeyboardInterrupt:
+            rclpy.spin(minimal_action_server, executor=executor)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
 
 
 if __name__ == '__main__':

diff --git a/...tions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py b/...tions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
 import time
 
 from example_interfaces.action import Fibonacci
@@ -71,32 +70,30 @@ async def execute_callback(goal_handle):
 
 def main(args=None):
     global logger
-    rclpy.init(args=args)
 
     try:
-        node = rclpy.create_node('minimal_action_server')
-        logger = node.get_logger()
-
-        # Use a ReentrantCallbackGroup to enable processing multiple goals concurrently
-        # Default goal callback accepts all goals
-        # Default cancel callback rejects cancel requests
-        action_server = ActionServer(
-            node,
-            Fibonacci,
-            'fibonacci',
-            execute_callback=execute_callback,
-            cancel_callback=cancel_callback,
-            callback_group=ReentrantCallbackGroup())
-        action_server  # Quiet flake8 warnings about unused variable
-
-        # Use a MultiThreadedExecutor to enable processing goals concurrently
-        executor = MultiThreadedExecutor()
-
-        rclpy.spin(node, executor=executor)
-    except KeyboardInterrupt:
+        with rclpy.init(args=args):
+            node = rclpy.create_node('minimal_action_server')
+            logger = node.get_logger()
+
+            # Use a ReentrantCallbackGroup to enable processing multiple goals concurrently
+            # Default goal callback accepts all goals
+            # Default cancel callback rejects cancel requests
+            action_server = ActionServer(
+                node,
+                Fibonacci,
+                'fibonacci',
+                execute_callback=execute_callback,
+                cancel_callback=cancel_callback,
+                callback_group=ReentrantCallbackGroup())
+            action_server  # Quiet flake8 warnings about unused variable
+
+            # Use a MultiThreadedExecutor to enable processing goals concurrently
+            executor = MultiThreadedExecutor()
+
+            rclpy.spin(node, executor=executor)
+    except (KeyboardInterrupt, ExternalShutdownException):
         pass
-    except ExternalShutdownException:
-        sys.exit(1)
 
 
 if __name__ == '__main__':