Executor bug fixes and WaitSet refactor

rclpy/CMakeLists.txt

@@ -70,10 +70,32 @@ function(configure_python_c_extension_library _library_name)
   )
 endfunction()
 
+# Library with signal handler
+add_library(
+  rclpy_sigint
+  SHARED src/rclpy/sigint_gc.c
+)
+target_include_directories(rclpy_sigint PUBLIC ${CMAKE_SOURCE_DIR})
+install(
+  TARGETS rclpy_sigint
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+ament_target_dependencies(rclpy_sigint
+  "rcl"
+)
+# Export so other packages can load this library when importing rclpy
+ament_export_libraries(rclpy_sigint)
+# Windows dllimport/dllexport
+target_compile_definitions(rclpy_sigint PRIVATE "RCLPY_SIGINT_BUILDING_LIBRARY")
+
+# Main library
 add_library(
   rclpy
   SHARED src/rclpy/_rclpy.c
 )
+target_link_libraries(rclpy rclpy_sigint)
 configure_python_c_extension_library(rclpy)
 ament_target_dependencies(rclpy
   "rcl"
@@ -90,6 +112,18 @@ ament_target_dependencies(rclpy_logging
   "rcutils"
 )
 
+# WaitSet wrapper library
+add_library(
+  rclpy_wait_set
+  SHARED src/rclpy/_rclpy_wait_set.c
+)
+target_link_libraries(rclpy_wait_set rclpy_sigint)
+configure_python_c_extension_library(rclpy_wait_set)
+ament_target_dependencies(rclpy_wait_set
+  "rcl"
+  "rcutils"
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
@@ -109,6 +143,7 @@ if(BUILD_TESTING)
       PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
       APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
         PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:rclpy_sigint>"  # Windows add rclpy_sigint.dll to path
       TIMEOUT 90
     )
   endif()

rclpy/rclpy/client.py

@@ -15,6 +15,7 @@
 import threading
 
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+from rclpy.impl.implementation_singleton import rclpy_wait_set_implementation as _rclpy_wait_set
 import rclpy.utilities
 
 
@@ -23,24 +24,19 @@ class ResponseThread(threading.Thread):
     def __init__(self, client):
         threading.Thread.__init__(self)
         self.client = client
-        self.wait_set = _rclpy.rclpy_get_zero_initialized_wait_set()
-        _rclpy.rclpy_wait_set_init(self.wait_set, 0, 1, 0, 1, 0)
-        _rclpy.rclpy_wait_set_clear_entities('client', self.wait_set)
-        _rclpy.rclpy_wait_set_add_entity(
-            'client', self.wait_set, self.client.client_handle)
+        self._wait_set = _rclpy_wait_set.WaitSet()
 
     def run(self):
         [sigint_gc, sigint_gc_handle] = _rclpy.rclpy_get_sigint_guard_condition()
-        _rclpy.rclpy_wait_set_add_entity('guard_condition', self.wait_set, sigint_gc)
+        self._wait_set.clear()
+        self._wait_set.add_guard_conditions([sigint_gc])
+        self._wait_set.add_clients([self.client.client_handle])
 
-        _rclpy.rclpy_wait(self.wait_set, -1)
-
-        guard_condition_ready_list = \
-            _rclpy.rclpy_get_ready_entities('guard_condition', self.wait_set)
+        self._wait_set.wait(-1)
 
         # destroying here to make sure we dont call shutdown before cleaning up
         _rclpy.rclpy_destroy_entity(sigint_gc)
-        if sigint_gc_handle in guard_condition_ready_list:
+        if self._wait_set.is_ready(sigint_gc):
             rclpy.utilities.shutdown()
             return
         response = _rclpy.rclpy_take_response(