Refactor to new subscription handle type

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · Apr 26, 2019 · c69de7d · c69de7d
1 parent 48ca3f7
commit c69de7d
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Showing 4 changed files with 39 additions and 31 deletions.
diff --git a/rclpy/rclpy/qos_event.py b/rclpy/rclpy/qos_event.py
@@ -18,6 +18,7 @@
 from typing import NamedTuple
 
 from rclpy.callback_groups import CallbackGroup
+from rclpy.handle import Handle
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.waitable import NumberOfEntities
 from rclpy.waitable import Waitable
@@ -167,21 +168,22 @@ def __init__(
         self.liveliness = liveliness
 
     def create_event_handlers(
-        self, callback_group: CallbackGroup, subscription_handle
+        self, callback_group: CallbackGroup, subscription_handle: Handle
     ) -> List[QoSEventHandler]:
         event_handlers = []
-        if self.deadline:
-            event_handlers.append(QoSEventHandler(
-                callback_group=callback_group,
-                callback=self.deadline,
-                event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
-                parent_handle=subscription_handle))
-        if self.liveliness:
-            event_handlers.append(QoSEventHandler(
-                callback_group=callback_group,
-                callback=self.liveliness,
-                event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
-                parent_handle=subscription_handle))
+        with subscription_handle as subscription_capsule:
+            if self.deadline:
+                event_handlers.append(QoSEventHandler(
+                    callback_group=callback_group,
+                    callback=self.deadline,
+                    event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
+                    parent_handle=subscription_capsule))
+            if self.liveliness:
+                event_handlers.append(QoSEventHandler(
+                    callback_group=callback_group,
+                    callback=self.liveliness,
+                    event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
+                    parent_handle=subscription_capsule))
         return event_handlers
 
 

diff --git a/rclpy/rclpy/subscription.py b/rclpy/rclpy/subscription.py
@@ -16,6 +16,7 @@
 from typing import TypeVar
 
 from rclpy.callback_groups import CallbackGroup
+from rclpy.handle import Handle
 from rclpy.qos import QoSProfile
 from rclpy.qos_event import SubscriptionEventCallbacks
 
@@ -28,7 +29,7 @@ class Subscription:
 
     def __init__(
          self,
-         subscription_handle,
+         subscription_handle: Handle,
          msg_type: MsgType,
          topic: str,
          callback: Callable,

diff --git a/rclpy/src/rclpy/_rclpy_qos_event.c b/rclpy/src/rclpy/_rclpy_qos_event.c
@@ -49,7 +49,7 @@ _destroy_event_capsule(PyObject * pycapsule)
 bool
 _is_pycapsule_rcl_subscription(PyObject * pycapsule)
 {
-  return PyCapsule_IsValid(pycapsule, "rcl_subscription_t");
+  return PyCapsule_IsValid(pycapsule, "rclpy_subscription_t");
 }
 
 bool
@@ -67,7 +67,7 @@ _is_pycapsule_rcl_event(PyObject * pycapsule)
 rcl_subscription_t *
 _pycapsule_to_rcl_subscription(PyObject * pycapsule)
 {
-  return (rcl_subscription_t *)PyCapsule_GetPointer(pycapsule, "rcl_subscription_t");
+  return (rcl_subscription_t *)PyCapsule_GetPointer(pycapsule, "rclpy_subscription_t");
 }
 
 rcl_publisher_t *

diff --git a/rclpy/test/test_qos_event.py b/rclpy/test/test_qos_event.py
@@ -100,7 +100,7 @@ def test_subscription_constructor(self):
         self.assertEqual(len(subscription.event_handlers), 2)
         self.node.destroy_subscription(subscription)
 
-    def test_event_create_destroy(self):
+    def test_publisher_event_create_destroy(self):
         # Publisher event types
         publisher = self.node.create_publisher(EmptyMsg, 'test_topic')
 
@@ -118,21 +118,24 @@ def test_event_create_destroy(self):
 
         self.node.destroy_publisher(publisher)
 
+    def test_subscription_event_create_destroy(self):
         # Subscription event types
         message_callback = Mock()
         subscription = self.node.create_subscription(EmptyMsg, 'test_topic', message_callback)
 
-        event_handle = _rclpy.rclpy_create_event(
-            QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
-            subscription.subscription_handle)
-        self.assertIsNotNone(event_handle)
-        _rclpy.rclpy_destroy_entity(event_handle)
+        with subscription.handle as subscription_capsule:
+            # self.assertFalse(subscription_capsule)
+            event_handle = _rclpy.rclpy_create_event(
+                QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
+                subscription_capsule)
+            self.assertIsNotNone(event_handle)
+            _rclpy.rclpy_destroy_entity(event_handle)
 
-        event_handle = _rclpy.rclpy_create_event(
-            QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
-            subscription.subscription_handle)
-        self.assertIsNotNone(event_handle)
-        _rclpy.rclpy_destroy_entity(event_handle)
+            event_handle = _rclpy.rclpy_create_event(
+                QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
+                subscription_capsule)
+            self.assertIsNotNone(event_handle)
+            _rclpy.rclpy_destroy_entity(event_handle)
 
         self.node.destroy_subscription(subscription)
 
@@ -190,16 +193,17 @@ def test_call_subscription_rclpy_event_apis(self):
         wait_set = _rclpy.rclpy_get_zero_initialized_wait_set()
         _rclpy.rclpy_wait_set_init(wait_set, 0, 0, 0, 0, 0, 2, self.context.handle)
 
+        subscription_capsule = subscription.handle._get_capsule()
         deadline_event_handle = _rclpy.rclpy_create_event(
             QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
-            subscription.subscription_handle)
+            subscription_capsule)
         deadline_event_index = _rclpy.rclpy_wait_set_add_entity(
             'event', wait_set, deadline_event_handle)
         self.assertIsNotNone(deadline_event_index)
 
         liveliness_event_handle = _rclpy.rclpy_create_event(
             QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
-            subscription.subscription_handle)
+            subscription_capsule)
         liveliness_event_index = _rclpy.rclpy_wait_set_add_entity(
             'event', wait_set, liveliness_event_handle)
         self.assertIsNotNone(liveliness_event_index)
@@ -214,20 +218,21 @@ def test_call_subscription_rclpy_event_apis(self):
         # Tests data conversion utilities in C side
         event_data = _rclpy.rclpy_take_event(
             deadline_event_handle,
-            subscription.subscription_handle,
+            subscription_capsule,
             QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED)
         self.assertIsInstance(event_data, QoSRequestedDeadlineMissedInfo)
         self.assertEqual(event_data.total_count, 0)
         self.assertEqual(event_data.total_count_change, 0)
 
         event_data = _rclpy.rclpy_take_event(
             liveliness_event_handle,
-            subscription.subscription_handle,
+            subscription_capsule,
             QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED)
         self.assertIsInstance(event_data, QoSLivelinessChangedInfo)
         self.assertEqual(event_data.alive_count, 0)
         self.assertEqual(event_data.alive_count_change, 0)
         self.assertEqual(event_data.not_alive_count, 0)
         self.assertEqual(event_data.not_alive_count_change, 0)
 
+        subscription.handle._return_capsule()
         self.node.destroy_subscription(subscription)