Fixed executor yielding entities to wrong node

Also refactored some code to a sub-generator

Author: sloretz

rclpy/rclpy/executors.py

@@ -252,6 +252,56 @@ def _can_execute(self, entity):
         """
         return entity.callback_group.can_execute(entity) and not entity._executor_event
 
+    def _new_callbacks(self, nodes, wait_set):
+        """
+        Yields brand new work to executor implementations.
+
+        :param nodes: nodes to yield work for
+        :type nodes: list
+        :param wait_set: wait set that has already been waited on
+        :type wait_set: rclpy.wait_set.WaitSet
+        :rtype: Generator[(callable, entity, :class:`rclpy.node.Node`)]
+        """
+        yielded_work = False
+        # Process ready entities one node at a time
+        for node in nodes:
+            for tmr in node.timers:
+                if wait_set.is_ready(tmr.timer_pointer) and tmr.callback_group.can_execute(tmr):
+                    # TODO(Sloretz) Which rcl cancelled timer bug does this workaround?
+                    if not _rclpy.rclpy_is_timer_ready(tmr.timer_handle):
+                        continue
+                    handler = self._make_handler(tmr, self._take_timer, self._execute_timer)
+                    yielded_work = True
+                    yield handler, tmr, node
+
+            for sub in node.subscriptions:
+                if (wait_set.is_ready(sub.subscription_pointer) and
+                        sub.callback_group.can_execute(sub)):
+                    handler = self._make_handler(
+                        sub, self._take_subscription, self._execute_subscription)
+                    yielded_work = True
+                    yield handler, sub, node
+
+            for gc in node.guards:
+                if gc._executor_triggered and gc.callback_group.can_execute(gc):
+                    handler = self._make_handler(
+                        gc, self._take_guard_condition, self._execute_guard_condition)
+                    yielded_work = True
+                    yield handler, gc, node
+
+            for cli in node.clients:
+                if wait_set.is_ready(cli.client_pointer) and cli.callback_group.can_execute(cli):
+                    handler = self._make_handler(cli, self._take_client, self._execute_client)
+                    yielded_work = True
+                    yield handler, cli, node
+
+            for srv in node.services:
+                if wait_set.is_ready(srv.service_pointer) and srv.callback_group.can_execute(srv):
+                    handler = self._make_handler(srv, self._take_service, self._execute_service)
+                    yielded_work = True
+                    yield handler, srv, node
+        return yielded_work
+
     def wait_for_ready_callbacks(self, timeout_sec=None, nodes=None):
         """
         Yield callbacks that are ready to be performed.
@@ -320,47 +370,7 @@ def wait_for_ready_callbacks(self, timeout_sec=None, nodes=None):
                 for gc in [g for g in guards if wait_set.is_ready(g.guard_pointer)]:
                     gc._executor_triggered = True
 
-                # Process ready entities one node at a time
-                for node in nodes:
-                    for tmr in [t for t in timers if wait_set.is_ready(t.timer_pointer)]:
-                        # Check that a timer is ready to workaround rcl issue with cancelled timers
-                        if _rclpy.rclpy_is_timer_ready(tmr.timer_handle):
-                            if tmr == timeout_timer:
-                                continue
-                            elif tmr.callback_group.can_execute(tmr):
-                                handler = self._make_handler(
-                                    tmr, self._take_timer, self._execute_timer)
-                                yielded_work = True
-                                yield handler, tmr, node
-
-                    for sub in [s for s in subscriptions if wait_set.is_ready(
-                            s.subscription_pointer)]:
-                        if sub.callback_group.can_execute(sub):
-                            handler = self._make_handler(
-                                sub, self._take_subscription, self._execute_subscription)
-                            yielded_work = True
-                            yield handler, sub, node
-
-                    for gc in [g for g in node.guards if g._executor_triggered]:
-                        if gc.callback_group.can_execute(gc):
-                            handler = self._make_handler(
-                                gc, self._take_guard_condition, self._execute_guard_condition)
-                            yielded_work = True
-                            yield handler, gc, node
-
-                    for client in [c for c in clients if wait_set.is_ready(c.client_pointer)]:
-                        if client.callback_group.can_execute(client):
-                            handler = self._make_handler(
-                                client, self._take_client, self._execute_client)
-                            yielded_work = True
-                            yield handler, client, node
-
-                    for srv in [s for s in services if wait_set.is_ready(s.service_pointer)]:
-                        if srv.callback_group.can_execute(srv):
-                            handler = self._make_handler(
-                                srv, self._take_service, self._execute_service)
-                            yielded_work = True
-                            yield handler, srv, node
+                yielded_work = yield from self._new_callbacks(nodes, wait_set)
 
                 # Check timeout timer
                 if (