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put the timeout back and figure out how shutdown works

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This commit is contained in:
ryleu
2026-04-11 16:22:22 -05:00
parent 44e457bf76
commit 4c3a741589
2 changed files with 9 additions and 10 deletions
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17
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -1,11 +1,9 @@
from warnings import deprecated from warnings import deprecated
import rclpy import rclpy
from rclpy.node import Node from rclpy.node import Node
from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor
from rcl_interfaces.msg import ParameterDescriptor, ParameterType from rcl_interfaces.msg import ParameterDescriptor, ParameterType
import atexit
from .connector import ( from .connector import (
Connector, Connector,
MockConnector, MockConnector,
@@ -186,11 +184,10 @@ class Anchor(Node):
# poll at 100Hz for incoming data # poll at 100Hz for incoming data
self.read_timer_ = self.create_timer(0.01, self.read_connector) self.read_timer_ = self.create_timer(0.01, self.read_connector)
# close devices on exit def destroy_node(self):
atexit.register(self.cleanup) self.get_logger().info("closing connector")
def cleanup(self):
self.connector.cleanup() self.connector.cleanup()
super().destroy_node()
def read_connector(self): def read_connector(self):
"""Check the connector for new data from the MCU, and publish string to appropriate topics""" """Check the connector for new data from the MCU, and publish string to appropriate topics"""
@@ -241,7 +238,7 @@ class Anchor(Node):
def main(args=None): def main(args=None):
rclpy.init(args=args) rclpy.init(args=args)
anchor_node = Anchor() anchor_node = Anchor()
executor = MultiThreadedExecutor() executor = SingleThreadedExecutor()
executor.add_node(anchor_node) executor.add_node(anchor_node)
try: try:
@@ -249,7 +246,9 @@ def main(args=None):
except (KeyboardInterrupt, ExternalShutdownException): except (KeyboardInterrupt, ExternalShutdownException):
pass pass
finally: finally:
# might not have to shut down everything manually, find out later ~riley # don't accept any more jobs
executor.shutdown() executor.shutdown()
# make the node quit processing things
anchor_node.destroy_node() anchor_node.destroy_node()
# shut down everything else
rclpy.try_shutdown() rclpy.try_shutdown()

2
src/anchor_pkg/anchor_pkg/connector.py
View File

@@ -154,7 +154,7 @@ class SerialConnector(Connector):
serial_interface: serial.Serial serial_interface: serial.Serial
try: try:
self.logger.info(f"asking {port} for its name") self.logger.info(f"asking {port} for its name")
serial_interface = serial.Serial(port, BAUD_RATE) serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
serial_interface.write(b"can_relay_mode,on\n") serial_interface.write(b"can_relay_mode,on\n")