def destroy_node(self):
ret = True
if self.handle is None:
return ret
for sub in self.subscriptions:
ret &= _rclpy.rclpy_destroy_node_entity(
'subscription', sub.subscription_handle, self.handle)
self.subscriptions.remove(sub)
for pub in self.publishers:
ret &= _rclpy.rclpy_destroy_node_entity(
'publisher', pub.publisher_handle, self.handle)
self.publishers.remove(pub)
for cli in self.clients:
ret &= _rclpy.rclpy_destroy_node_entity(
'client', cli.client_handle, self.handle)
self.clients.remove(cli)
for srv in self.services:
ret &= _rclpy.rclpy_destroy_node_entity(
'service', srv.service_handle, self.handle)
self.services.remove(srv)
for tmr in self.timers:
ret &= _rclpy.rclpy_destroy_entity('timer', tmr.timer_handle)
self.timers.remove(tmr)
ret &= _rclpy.rclpy_destroy_entity('node', self.handle)
self._handle = None
return ret
def destroy_subscription(self, subscription):
for sub in self.subscriptions:
if sub.subscription_handle == subscription.subscription_handle:
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle,
self.handle)
self.subscriptions.remove(sub)
return True
return False
def destroy_service(self, service):
for srv in self.services:
if srv.service_handle == service.service_handle:
_rclpy.rclpy_destroy_node_entity(srv.service_handle,
self.handle)
self.services.remove(srv)
return True
return False
def destroy_publisher(self, publisher):
for pub in self.publishers:
if pub.publisher_handle == publisher.publisher_handle:
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle,
self.handle)
self.publishers.remove(pub)
return True
return False
def destroy_subscription(self, subscription):
for sub in self.subscriptions:
if sub.subscription_handle == subscription.subscription_handle:
_rclpy.rclpy_destroy_node_entity(
'subscription', sub.subscription_handle, self.handle)
self.subscriptions.remove(sub)
return True
return False
def destroy_client(self, client):
for cli in self.clients:
if cli.client_handle == client.client_handle:
_rclpy.rclpy_destroy_node_entity(
'client', cli.client_handle, self.handle)
self.clients.remove(cli)
return True
return False
def destroy_service(self, service):
for srv in self.services:
if srv.service_handle == service.service_handle:
_rclpy.rclpy_destroy_node_entity(
'service', srv.service_handle, self.handle)
self.services.remove(srv)
return True
return False
def destroy_client(self, client):
for cli in self.clients:
if cli.client_handle == client.client_handle:
_rclpy.rclpy_destroy_node_entity(cli.client_handle,
self.handle)
self.clients.remove(cli)
return True
return False
def destroy_publisher(self, publisher):
for pub in self.publishers:
if pub.publisher_handle == publisher.publisher_handle:
_rclpy.rclpy_destroy_node_entity(
'publisher', pub.publisher_handle, self.handle)
self.publishers.remove(pub)
return True
return False
def destroy_client(self, client: Client) -> bool:
"""
Destroy a service client created by the node.
:return: ``True`` if successful, ``False`` otherwise.
"""
for cli in self.clients:
if cli.client_handle == client.client_handle:
_rclpy.rclpy_destroy_node_entity(cli.client_handle,
self.handle)
self.clients.remove(cli)
return True
return False
def destroy_subscription(self, subscription: Subscription) -> bool:
"""
Destroy a subscription created by the node.
:return: ``True`` if succesful, ``False`` otherwise.
"""
for sub in self.subscriptions:
if sub.subscription_handle == subscription.subscription_handle:
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle,
self.handle)
self.subscriptions.remove(sub)
return True
return False
def destroy_publisher(self, publisher: Publisher) -> bool:
"""
Destroy a publisher created by the node.
:return: ``True`` if successful, ``False`` otherwise.
"""
for pub in self.publishers:
if pub.publisher_handle == publisher.publisher_handle:
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle,
self.handle)
self.publishers.remove(pub)
return True
return False
def destroy_service(self, service: Service) -> bool:
"""
Destroy a service server created by the node.
:return: ``True`` if successful, ``False`` otherwise.
"""
for srv in self.services:
if srv.service_handle == service.service_handle:
_rclpy.rclpy_destroy_node_entity(srv.service_handle,
self.handle)
self.services.remove(srv)
return True
return False
def destroy_node(self):
ret = True
if self.handle is None:
return ret
while self.publishers:
pub = self.publishers.pop()
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle, self.handle)
while self.subscriptions:
sub = self.subscriptions.pop()
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle,
self.handle)
while self.clients:
cli = self.clients.pop()
_rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
while self.services:
srv = self.services.pop()
_rclpy.rclpy_destroy_node_entity(srv.service_handle, self.handle)
while self.timers:
tmr = self.timers.pop()
_rclpy.rclpy_destroy_entity(tmr.timer_handle)
while self.guards:
gc = self.guards.pop()
_rclpy.rclpy_destroy_entity(gc.guard_handle)
_rclpy.rclpy_destroy_entity(self.handle)
self._handle = None
return ret
def destroy_node(self):
ret = True
if self.handle is None:
return ret
# Drop extra reference to parameter event publisher.
# It will be destroyed with other publishers below.
self._parameter_event_publisher = None
while self.publishers:
pub = self.publishers.pop()
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle, self.handle)
while self.subscriptions:
sub = self.subscriptions.pop()
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle,
self.handle)
while self.clients:
cli = self.clients.pop()
_rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
while self.services:
srv = self.services.pop()
_rclpy.rclpy_destroy_node_entity(srv.service_handle, self.handle)
while self.timers:
tmr = self.timers.pop()
_rclpy.rclpy_destroy_entity(tmr.timer_handle)
# TODO(sloretz) Store clocks on node and destroy them separately
_rclpy.rclpy_destroy_entity(tmr.clock._clock_handle)
while self.guards:
gc = self.guards.pop()
_rclpy.rclpy_destroy_entity(gc.guard_handle)
_rclpy.rclpy_destroy_entity(self.handle)
self._handle = None
return ret
def destroy_node(self):
ret = True
if self.handle is None:
return ret
while self.publishers:
pub = self.publishers.pop()
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle, self.handle)
while self.subscriptions:
sub = self.subscriptions.pop()
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle,
self.handle)
while self.clients:
cli = self.clients.pop()
_rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
while self.services:
srv = self.services.pop()
_rclpy.rclpy_destroy_node_entity(srv.service_handle, self.handle)
while self.timers:
tmr = self.timers.pop()
_rclpy.rclpy_destroy_entity(tmr.timer_handle)
# TODO(sloretz) Store clocks on node and destroy them separately
_rclpy.rclpy_destroy_entity(tmr.clock._clock_handle)
while self.guards:
gc = self.guards.pop()
_rclpy.rclpy_destroy_entity(gc.guard_handle)
_rclpy.rclpy_destroy_entity(self.handle)
self._handle = None
return ret
def destroy_node(self) -> bool:
"""
Destroy the node.
Frees resources used by the node, including any entities created by the following methods:
* :func:`create_publisher`
* :func:`create_subscription`
* :func:`create_client`
* :func:`create_service`
* :func:`create_timer`
* :func:`create_guard_condition`
:return: ``True`` if successful, ``False`` otherwise.
"""
ret = True
if self.handle is None:
return ret
# Drop extra reference to parameter event publisher.
# It will be destroyed with other publishers below.
self._parameter_event_publisher = None
while self.publishers:
pub = self.publishers.pop()
_rclpy.rclpy_destroy_node_entity(pub.publisher_handle, self.handle)
while self.subscriptions:
sub = self.subscriptions.pop()
_rclpy.rclpy_destroy_node_entity(sub.subscription_handle,
self.handle)
while self.clients:
cli = self.clients.pop()
_rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
while self.services:
srv = self.services.pop()
_rclpy.rclpy_destroy_node_entity(srv.service_handle, self.handle)
while self.timers:
tmr = self.timers.pop()
_rclpy.rclpy_destroy_entity(tmr.timer_handle)
# TODO(sloretz) Store clocks on node and destroy them separately
_rclpy.rclpy_destroy_entity(tmr.clock._clock_handle)
while self.guards:
gc = self.guards.pop()
_rclpy.rclpy_destroy_entity(gc.guard_handle)
_rclpy.rclpy_destroy_entity(self.handle)
self._handle = None
return ret
