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QoS - API and implemention for event callbacks #6

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QoS - API and implemention for event callbacks #6

wants to merge 11 commits into from

Commits on Apr 19, 2019

  1. Every executor gets its own SIGINT guard condition (ros2#308) 

    * Every executor gets its own SIGINT guard condition

Moves signal handling code to _rclpy_signal_handler
Every executor adds a guard condition to a global list
SIGINT signal handler triggers all guard conditions in global list

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* _sigint_gc robust to shutdown() called twice

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Remove redundant comments

Comments say the same thing twice.
It only needs to be said once.
Remove extra comments so the same thing is not repeated.

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Split loop for readability

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* g_guard_conditions atomic variable

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Use rclutils_atomics macros

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Call original handler before losing reference to it

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* remove extra unnecessary assignment

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* g_guard_conditions is a struct on windows

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Rename action state transitions (ros2#300)

* Rename action state transitions

Now using active verbs as described in the design doc:

http://design.ros2.org/articles/actions.html#goal-states

Connects to ros2/rcl#399.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* add missing error handling and cleanup (ros2#315)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

* Don't store sigint_gc address

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* remove redundant conditional

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Every executor gets its own SIGINT guard condition

Moves signal handling code to _rclpy_signal_handler
Every executor adds a guard condition to a global list
SIGINT signal handler triggers all guard conditions in global list

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* _sigint_gc robust to shutdown() called twice

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Remove redundant comments

Comments say the same thing twice.
It only needs to be said once.
Remove extra comments so the same thing is not repeated.

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Split loop for readability

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* g_guard_conditions atomic variable

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Use rclutils_atomics macros

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Call original handler before losing reference to it

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* remove extra unnecessary assignment

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* g_guard_conditions is a struct on windows

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Don't store sigint_gc address

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* remove redundant conditional

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
    @sloretz
    sloretz authored Apr 19, 2019
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Commits on Apr 24, 2019

  1. enforce correct message type is passed to various API (ros2#317) 

    * add tests ensuring TypeError is raised

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

* raise TypeError when passing invalid message types

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
    @dirk-thomas
    dirk-thomas authored Apr 24, 2019
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  2. QoS event callbacks implementation 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  3. Using i for type instead of l, because l wasn't understanding -1 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  4. remove incorrect conclusion, I was seeing an existing shutdown issue … 

    …in my test app, not in the rclpy functionality

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  5. Address python-side review comments 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  6. Start addressing some of the C side feedback 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  7. XDECREFs all in one place instead of complex deref logic 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  8. Fix lint, start adding unit test 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  9. Test num_events in NumberOfEntities 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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  10. Add some unit tests 

    Signed-off-by: Emerson Knapp <eknapp@amazon.com>
    Emerson Knapp committed Apr 24, 2019
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