def try_shutdown(*, context=None):
"""Shutdown rclpy if not already shutdown."""
global g_context_lock
global g_default_context
if context is None:
# Replace the default context with a new one if shutdown was successful
# or if the context was already shutdown.
with g_context_lock:
if g_default_context is None:
g_default_context = Context()
g_default_context.try_shutdown()
if not g_default_context.ok():
g_default_context = None
else:
return context.try_shutdown()
def init(
*,
args: Optional[List[str]] = None,
context: Context = None,
domain_id: Optional[int] = None,
signal_handler_options: Optional[SignalHandlerOptions] = None,
) -> None:
"""
Initialize ROS communications for a given context.
:param args: List of command line arguments.
:param context: The context to initialize. If ``None``, then the default context is used
(see :func:`.get_default_context`).
:param domain_id: ROS domain id.
:param signal_handler_options: Indicate which signal handlers to install.
If `None`, SIGINT and SIGTERM will be installed when initializing the default context.
"""
context = get_default_context() if context is None else context
if signal_handler_options is None:
if context is None or context is get_default_context():
signal_handler_options = SignalHandlerOptions.ALL
else:
signal_handler_options = SignalHandlerOptions.NO
install_signal_handlers(signal_handler_options)
return context.init(args, domain_id=domain_id)
def init(*, args: Optional[List[str]] = None, context: Context = None) -> None:
"""
Initialize ROS communications for a given context.
:param args: List of command line arguments.
:param context: The context to initialize. If ``None``, then the default context is used
(see :func:`.get_default_context`).
"""
context = get_default_context() if context is None else context
return context.init(args)
def get_default_context(*, shutting_down=False):
"""Return the global default context singleton."""
global g_context_lock
with g_context_lock:
global g_default_context
if g_default_context is None:
g_default_context = Context()
if shutting_down:
old_context = g_default_context
g_default_context = None
return old_context
return g_default_context
def test_on_shutdown_function():
context = Context()
context.init()
callback_called = False
def on_shutdown():
nonlocal callback_called
callback_called = True
context.on_shutdown(on_shutdown)
context.shutdown()
assert callback_called
def test_on_shutdown_method():
context = Context()
context.init()
callback_called = False
class SomeClass:
def on_shutdown(self):
nonlocal callback_called
callback_called = True
instance = SomeClass()
context.on_shutdown(instance.on_shutdown)
context.shutdown()
assert callback_called
def test_sleep_for_invalid_context():
clock = Clock()
with pytest.raises(NotInitializedException):
clock.sleep_for(Duration(seconds=0.1), context=Context())
def non_default_context():
context = Context()
context.init()
yield context
context.try_shutdown()