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 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 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 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 non_default_context():
context = Context()
context.init()
yield context
context.try_shutdown()