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Make rclpy.try_shutdown() behavior to follow rclpy.shutdown() more closely #868

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Merged
merged 3 commits into from
Dec 22, 2021
Merged

Make rclpy.try_shutdown() behavior to follow rclpy.shutdown() more closely #868

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d84a2ae
Make rclpy.try_shutdown() behavior to follow rclpy.shutdown() more cl…
ivanpauno Dec 22, 2021
cb23bd7
Simplify code
ivanpauno Dec 22, 2021
d65b487
Fix issue: callback to remove executor never being called
ivanpauno Dec 22, 2021
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11 changes: 7 additions & 4 deletions rclpy/rclpy/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,13 @@ def get_global_executor() -> 'Executor':
# imported locally to avoid loading extensions on module import
from rclpy.executors import SingleThreadedExecutor
__executor = SingleThreadedExecutor()
context = get_default_context()

def reset_executor():
global __executor
__executor.shutdown()
__executor = None
context.on_shutdown(reset_executor)
return __executor


Expand All @@ -116,10 +123,6 @@ def shutdown(*, context: Context = None, uninstall_handlers: Optional[bool] = No
If `True`, signal handlers will be uninstalled.
If not, signal handlers won't be uninstalled.
"""
global __executor
if __executor is not None:
__executor.shutdown()
__executor = None
_shutdown(context=context)
if (
uninstall_handlers or (
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14 changes: 12 additions & 2 deletions rclpy/rclpy/utilities.py
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Expand Up @@ -60,9 +60,19 @@ def shutdown(*, context=None):

def try_shutdown(*, context=None):
"""Shutdown rclpy if not already shutdown."""
global g_context_lock
global g_default_context
if context is None:
context = get_default_context()
return context.try_shutdown()
# Replace the default context with a new one if shutdown was successful
# or if the context was already shutdown.
with g_context_lock:
if g_default_context is None:
g_default_context = Context()
g_default_context.try_shutdown()
if not g_default_context.ok():
g_default_context = None
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@sloretz sloretz Dec 22, 2021

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I wish the default context registered an on_shutdown callback to manage the global variable too.

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@ivanpauno ivanpauno Dec 22, 2021

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Currently all the work is done with the default context lock taken.
If we register an on_shutdown() callback I don't think that would work.

Maybe it's possible to do that with some extra trick.

else:
return context.try_shutdown()


def get_rmw_implementation_identifier():
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