Merge pull request #117 from gramaziokohler/fix-reconnection-on-ironp…

…ython

Fixed reconnection issues on IronPython

CHANGELOG.rst

@@ -12,10 +12,14 @@ Unreleased
 
 **Added**
 
+* Added a wait event to close on IronPython to ensure the close request is sent before returning.
+
 **Changed**
 
 **Fixed**
 
+* Fixed reconnection behavior on IronPython which would trigger reconnects even after a manual disconnect.
+
 **Deprecated**
 
 **Removed**

src/roslibpy/comm/comm_cli.py

@@ -70,7 +70,7 @@ def on_open(self, task):
             return
 
         LOGGER.info('Connection to ROS ready.')
-        self._manual_disconnect = False
+        self.factory.manual_disconnect = False
         self.factory.ready(self)
         self.factory.manager.call_in_thread(self.start_listening)
 
@@ -174,7 +174,7 @@ def start_listening(self):
 
     def send_close(self):
         """Trigger the closure of the websocket indicating normal closing process."""
-        self._manual_disconnect = True
+        self.factory.manual_disconnect = True
 
         err_desc = ''
         err_code = WebSocketCloseStatus.NormalClosure
@@ -273,6 +273,7 @@ class CliRosBridgeClientFactory(EventEmitterMixin):
     def __init__(self, url, *args, **kwargs):
         super(CliRosBridgeClientFactory, self).__init__(*args, **kwargs)
         self._manager = CliEventLoopManager()
+        self.manual_disconnect = False
         self.proto = None
         self.url = url
         self.delay = self.initial_delay
@@ -313,16 +314,16 @@ def reset_delay(self):
         self.delay = self.initial_delay
 
     def _reconnect_if_needed(self):
-        if self.proto and self.proto._manual_disconnect:
+        if self.manual_disconnect:
             return
 
         if self.max_retries is not None and (self.retries >= self.max_retries):
-            LOGGER.info('Abandonning after {} retries'.format(self.retries))
+            LOGGER.info("Abandoning after {} retries".format(self.retries))
             return
 
         self.retries += 1
         self.delay = min(self.delay * self.factor, self.max_delay)
-        LOGGER.info('Connection manager will retry in {} seconds'.format(int(self.delay)))
+        LOGGER.info("Connection manager will retry in {} seconds".format(int(self.delay)))
 
         self.manager.call_later(self.delay, self.connect)
 

src/roslibpy/ros.py

@@ -74,17 +74,22 @@ def _unset_connecting_flag(*args):
         self.factory.on_ready(_unset_connecting_flag)
         self.factory.connect()
 
-    def close(self):
+    def close(self, timeout=CONNECTION_TIMEOUT):
         """Disconnect from ROS."""
         if self.is_connected:
+            wait_disconnect = threading.Event()
 
             def _wrapper_callback(proto):
                 self.emit("closing")
                 proto.send_close()
+                wait_disconnect.set()
                 return proto
 
             self.factory.on_ready(_wrapper_callback)
 
+            if not wait_disconnect.wait(timeout):
+                raise RosTimeoutError("Failed to disconnect to ROS")
+
     def run(self, timeout=CONNECTION_TIMEOUT):
         """Kick-starts a non-blocking event loop.
 

tests/test_ros.py

@@ -58,3 +58,38 @@ def handle_closing():
     assert ctx["closing_event_called"]
     assert ctx["was_still_connected"]
     assert closing_was_handled_synchronously_before_close
+
+
+def test_multithreaded_connect_disconnect():
+    CONNECTIONS = 30
+    clients = []
+
+    def connect(clients):
+        ros = Ros(url)
+        ros.run()
+        clients.append(ros)
+
+    # First connect all
+    threads = []
+    for _ in range(CONNECTIONS):
+        thread = threading.Thread(target=connect, args=(clients,))
+        thread.daemon = False
+        thread.start()
+        threads.append(thread)
+
+    for thread in threads:
+        thread.join()
+
+    # Assert connection status
+    for ros in clients:
+        assert ros.is_connected
+
+    # Now disconnect all
+    for ros in clients:
+        ros.close()
+
+    time.sleep(0.5)
+
+    # Assert connection status
+    for ros in clients:
+        assert not ros.is_connected