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avoid lifecycle node transition exception #1319

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avoid lifecycle node transition exception #1319

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b8a9834
catch the RCLError exception during transition and print error.
fujitatomoya Jul 22, 2024
f76104b
remove a few exception cases from test_lifecycle.py.
fujitatomoya Jul 23, 2024
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28 changes: 23 additions & 5 deletions rclpy/rclpy/lifecycle/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@ def __init__(
raise RuntimeError('LifecycleNodeMixin uses Node fields so Node needs to be'
'in the inheritance tree.')

self._logger = self.get_logger()
self._callbacks: Dict[int, Callable[[LifecycleState], TransitionCallbackReturn]] = {}
# register all state machine transition callbacks
self.__register_callback(
Expand Down Expand Up @@ -389,18 +390,35 @@ def __change_state(self, transition_id: int) -> TransitionCallbackReturn:
self.__check_is_initialized()
initial_state = self._state_machine.current_state
initial_state = LifecycleState(state_id=initial_state[0], label=initial_state[1])
self._state_machine.trigger_transition_by_id(transition_id, True)

try:
self._state_machine.trigger_transition_by_id(transition_id, True)
except _rclpy.RCLError:
self._logger.error(
'Unable to start transition {0} from current state {1}'
.format(transition_id, self._state_machine.current_state))
return TransitionCallbackReturn.ERROR
cb_return_code = self.__execute_callback(
self._state_machine.current_state[0], initial_state)
self._state_machine.trigger_transition_by_label(cb_return_code.to_label(), True)

try:
self._state_machine.trigger_transition_by_label(cb_return_code.to_label(), True)
except _rclpy.RCLError:
self._logger.error(
'Failed to complete transition {0}, current state is {1}'
.format(transition_id, self._state_machine.current_state))
return TransitionCallbackReturn.ERROR
if cb_return_code == TransitionCallbackReturn.ERROR:
# Now we're in the errorprocessing state, trigger the on_error callback
# and transition again based on the return code.
error_cb_ret_code = self.__execute_callback(
self._state_machine.current_state[0], initial_state)
self._state_machine.trigger_transition_by_label(error_cb_ret_code.to_label(), True)
try:
self._state_machine.trigger_transition_by_label(error_cb_ret_code.to_label(), True)
except _rclpy.RCLError:
self._logger.error(
'Failed to complete transition to {0} during error processing state, '
'current state is {1}'
.format(error_cb_ret_code.to_label(), self._state_machine.current_state))
return TransitionCallbackReturn.ERROR
return cb_return_code

def __check_is_initialized(self) -> None:
Expand Down
7 changes: 0 additions & 7 deletions rclpy/test/test_lifecycle.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,6 @@

import rclpy
from rclpy.executors import SingleThreadedExecutor
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
from rclpy.lifecycle import LifecycleNode
from rclpy.lifecycle import TransitionCallbackReturn
from rclpy.node import Node
Expand Down Expand Up @@ -69,13 +68,7 @@ def test_lifecycle_state_transitions() -> None:
assert node.trigger_deactivate() == TransitionCallbackReturn.SUCCESS
assert node.trigger_cleanup() == TransitionCallbackReturn.SUCCESS
# some that are not possible from the current state
with pytest.raises(_rclpy.RCLError):
node.trigger_activate()
with pytest.raises(_rclpy.RCLError):
node.trigger_deactivate()
assert node.trigger_shutdown() == TransitionCallbackReturn.SUCCESS
with pytest.raises(_rclpy.RCLError):
node.trigger_shutdown()
node.destroy_node()
# Again but trigger shutdown from 'inactive' instead of 'unconfigured'
node = LifecycleNode(
Expand Down