async def self_cancel(*, task_status: TaskStatus) -> None:
nonlocal done
task_status.started()
with move_on_after(-1):
await Event().wait()
done = True
async def taskfunc(*, task_status: TaskStatus) -> None:
task_status.started()
with pytest.raises(
RuntimeError,
match="called 'started' twice on the same task status"):
task_status.started()
async def _track_feedback(
self,
subscription: abc.Subscription[abc.ActionFeedback[abc.FeedbackT]],
*,
task_status: TaskStatus = anyio.TASK_STATUS_IGNORED,
) -> None:
async with subscription, self._feedback_send_stream:
task_status.started()
async for msg in subscription:
if msg.status.goal_id.id == self._goal_id.id:
await self._feedback_send_stream.send(msg.feedback)
async def manage_time(
self, *, task_status: TaskStatus = anyio.TASK_STATUS_IGNORED
) -> None:
use_sim_time = await self.get_param_default("/use_sim_time", False)
if not use_sim_time:
task_status.started()
else:
self._time = Time(0, 0)
task_status.started()
async with self.create_subscription("/clock", Clock) as subscription:
async for clock in subscription:
self._time = clock.clock
async def task(task_status: TaskStatus) -> NoReturn:
nonlocal completed
with CancelScope() as scope:
# Enable the shield a little after the scope starts to make this test
# general, even though it has no bearing on the current implementation.
await sleep(0.1)
scope.shield = True
task_status.started()
await sleep(0.1)
completed = True
scope.shield = False
await sleep(1)
pytest.fail("Execution should not reach this point")
async def _signal_handler(
ros_node: Node, *, task_status: TaskStatus = anyio.TASK_STATUS_IGNORED
) -> None:
async with anyio.open_signal_receiver(signal.SIGINT, signal.SIGTERM) as signals:
task_status.started()
async for signum in signals:
if signum == signal.SIGINT:
print("Ctrl+C pressed!")
else:
print("Terminated!")
ros_node.signal_shutdown()
return
async def _track_status(
self,
subscription: abc.Subscription[GoalStatusArray],
*,
task_status: TaskStatus = anyio.TASK_STATUS_IGNORED,
) -> None:
async with subscription:
task_status.started()
async for msg in subscription:
self._sm.update_status(msg)
if self._sm.comm_state.is_terminal:
self._terminated.set()
break
async def _track_result(
self,
subscription: abc.Subscription[abc.ActionResult[abc.ResultT]],
*,
task_status: TaskStatus = anyio.TASK_STATUS_IGNORED,
) -> None:
async with subscription:
task_status.started()
async for msg in subscription:
if (msg.status.goal_id.id == self._goal_id.id
and self._sm.update_on_result_status(msg.status)):
self._result = msg.result
self._terminated.set()
break
async def track(
self,
sub_status: abc.Subscription[GoalStatusArray],
sub_feedback: abc.Subscription[abc.ActionFeedback[abc.FeedbackT]],
sub_result: abc.Subscription[abc.ActionResult[abc.ResultT]],
*,
task_status: TaskStatus = anyio.TASK_STATUS_IGNORED,
) -> None:
async with anyio.create_task_group() as task_group:
await task_group.start(self._track_status, sub_status)
await task_group.start(self._track_feedback, sub_feedback)
await task_group.start(self._track_result, sub_result)
task_status.started()
await self._terminated.wait()
task_group.cancel_scope.cancel()
async def non_main(*, task_status: TaskStatus) -> None:
task_status.started(anyio.get_current_task().name)
async def taskfunc(*, task_status: TaskStatus) -> NoReturn:
task_status.started(asyncio.current_task())
await sleep(5)
pytest.fail("Execution should never reach this point")
def taskfunc(*, task_status: TaskStatus) -> None:
task_status.started(get_current_task().name)
def taskfunc(*, task_status: TaskStatus) -> NoReturn:
task_status.started(2)
raise Exception("foo")
def taskfunc(*, task_status: TaskStatus) -> None:
task_status.started("foo")
async def task(*, task_status: TaskStatus) -> None:
nonlocal acquired
task_status.started()
async with lock:
acquired = True
def task_fn(*, task_status: TaskStatus) -> None:
task_status.started("hello")
async def subtask(*, task_status: TaskStatus) -> None:
nonlocal initial_parent_id, permanent_parent_id
initial_parent_id = get_current_task().parent_id
task_status.started()
permanent_parent_id = get_current_task().parent_id
async def taskfunc(*, task_status: TaskStatus) -> None:
task_status.started()