Wake executor when entities created or destroyed

[sloretz]

Replaces #206
Fixes #188

This wakes the executor when entities are created or destroyed. I added tests for creating entities waking the executor, but I haven't figured out how to add tests for destroying entities waking the executor.

This was unblocked by #308 which made it possible to write a test for creating entities.

[sloretz]

Proof that tests fail without 2b611a0

8: test/test_create_while_spinning.py FFFFF                                                                                                                                                                                                                                             [100%]
8: 
8: ========================================================================================================================================= FAILURES =========================================================================================================================================
8: ________________________________________________________________________________________________________________________ TestCreateWhileSpinning.test_client_server ________________________________________________________________________________________________________________________
8: 
8: self = <test.test_create_while_spinning.TestCreateWhileSpinning testMethod=test_client_server>
8: 
8:     def test_client_server(self):
8:         evt = threading.Event()
8:     
8:         def trigger_event(req, resp):
8:             nonlocal evt
8:             evt.set()
8:             return resp
8:     
8:         srv = self.node.create_service(BasicTypesSrv, 'foo', trigger_event)
8:         cli = self.node.create_client(BasicTypesSrv, 'foo')
8:         cli.wait_for_service()
8:         cli.call_async(BasicTypesSrv.Request())
8: >       assert evt.wait(TIMEOUT)
8: E       AssertionError: assert False
8: E        +  where False = <bound method Event.wait of <threading.Event object at 0x7fa1b4139438>>(0.5)
8: E        +    where <bound method Event.wait of <threading.Event object at 0x7fa1b4139438>> = <threading.Event object at 0x7fa1b4139438>.wait
8: 
8: test/test_create_while_spinning.py:74: AssertionError
8: _______________________________________________________________________________________________________________________ TestCreateWhileSpinning.test_guard_condition _______________________________________________________________________________________________________________________
8: 
8: self = <test.test_create_while_spinning.TestCreateWhileSpinning testMethod=test_guard_condition>
8: 
8:     def test_guard_condition(self):
8:         evt = threading.Event()
8:     
8:         guard = self.node.create_guard_condition(lambda: evt.set())
8:         guard.trigger()
8: >       assert evt.wait(TIMEOUT)
8: E       AssertionError: assert False
8: E        +  where False = <bound method Event.wait of <threading.Event object at 0x7fa1b41649e8>>(0.5)
8: E        +    where <bound method Event.wait of <threading.Event object at 0x7fa1b41649e8>> = <threading.Event object at 0x7fa1b41649e8>.wait
8: 
8: test/test_create_while_spinning.py:81: AssertionError
8: ______________________________________________________________________________________________________________________ TestCreateWhileSpinning.test_publish_subscribe ______________________________________________________________________________________________________________________
8: 
8: self = <test.test_create_while_spinning.TestCreateWhileSpinning testMethod=test_publish_subscribe>
8: 
8:     def test_publish_subscribe(self):
8:         evt = threading.Event()
8:         sub = self.node.create_subscription(BasicTypes, 'foo', lambda msg: evt.set())
8:         pub = self.node.create_publisher(BasicTypes, 'foo')
8:         pub.publish(BasicTypes())
8: >       assert evt.wait(TIMEOUT)
8: E       AssertionError: assert False
8: E        +  where False = <bound method Event.wait of <threading.Event object at 0x7fa1b4e85208>>(0.5)
8: E        +    where <bound method Event.wait of <threading.Event object at 0x7fa1b4e85208>> = <threading.Event object at 0x7fa1b4e85208>.wait
8: 
8: test/test_create_while_spinning.py:60: AssertionError
8: ____________________________________________________________________________________________________________________________ TestCreateWhileSpinning.test_timer ____________________________________________________________________________________________________________________________
8: 
8: self = <test.test_create_while_spinning.TestCreateWhileSpinning testMethod=test_timer>
8: 
8:     def test_timer(self):
8:         evt = threading.Event()
8:     
8:         tmr = self.node.create_timer(TIMEOUT / 10, lambda: evt.set())
8: >       assert evt.wait(TIMEOUT)
8: E       AssertionError: assert False
8: E        +  where False = <bound method Event.wait of <threading.Event object at 0x7fa1b41ad358>>(0.5)
8: E        +    where <bound method Event.wait of <threading.Event object at 0x7fa1b41ad358>> = <threading.Event object at 0x7fa1b41ad358>.wait
8: 
8: test/test_create_while_spinning.py:87: AssertionError
8: __________________________________________________________________________________________________________________________ TestCreateWhileSpinning.test_waitable ___________________________________________________________________________________________________________________________
8: 
8: self = <test.test_create_while_spinning.TestCreateWhileSpinning testMethod=test_waitable>
8: 
8:     def test_waitable(self):
8:         evt = threading.Event()
8:     
8:         class DummyWaitable(Waitable):
8:     
8:             def __init__(self):
8:                 super().__init__(ReentrantCallbackGroup())
8:     
8:             def is_ready(self, wait_set):
8:                 return False
8:     
8:             def take_data(self):
8:                 return None
8:     
8:             async def execute(self, taken_data):
8:                 pass
8:     
8:             def get_num_entities(self):
8:                 return NumberOfEntities(0, 0, 0, 0, 0)
8:     
8:             def add_to_wait_set(self, wait_set):
8:                 nonlocal evt
8:                 evt.set()
8:                 pass
8:     
8:         self.node.add_waitable(DummyWaitable())
8: >       assert evt.wait(TIMEOUT)
8: E       AssertionError: assert False
8: E        +  where False = <bound method Event.wait of <threading.Event object at 0x7fa1b4109908>>(0.5)
8: E        +    where <bound method Event.wait of <threading.Event object at 0x7fa1b4109908>> = <threading.Event object at 0x7fa1b4109908>.wait
8: 
8: test/test_create_while_spinning.py:115: AssertionError

[sloretz]

CI (testing rclpy)

• Linux
• Linux-aarch64
• macOS
• Windows

[wjwwood]

lgtm, with one question, looks like flake8 is failing.

[wjwwood]

This seems unnecessary, is there a reason for it?

[sloretz]

vs

if self.executor:
   self.executor.wake()

self.executor is a property that is set to None when the node is removed from an executor. If the node is removed after the check then the call to wake might raise AttributeError

[sloretz]

CI (testing just rclpy)

• Linux
• Linux-aarch64
• macOS
• Windows

[sloretz]

CI (testing just rclpy after rebasing on master)

• Linux
• Linux-aarch64
• macOS Edit: Canceled job in build queue, will wait until after API freeze
• Windows (faild to delete workspace Job failed to delete workspace build_farmer#161)

Edit: WIll re-run windows CI post API freeze

[sloretz]

CI (testing just rclpy)

• Linux
• Linux-aarch64
• macOS
• Windows