Humble corrections

ros2action/CHANGELOG.rst

@@ -2,6 +2,29 @@
 Changelog for package ros2action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.18.10 (2024-05-15)
+--------------------
+* call get_action_interfaces() properly. (`#898 <https://github.com/ros2/ros2cli/issues/898>`_) (`#902 <https://github.com/ros2/ros2cli/issues/902>`_)
+* Contributors: mergify[bot]
+
+0.18.9 (2024-02-16)
+-------------------
+
+0.18.8 (2024-01-24)
+-------------------
+
+0.18.7 (2023-07-18)
+-------------------
+
+0.18.6 (2023-04-25)
+-------------------
+
+0.18.5 (2023-01-10)
+-------------------
+
+0.18.4 (2022-11-07)
+-------------------
+
 0.18.3 (2022-04-08)
 -------------------
 

ros2action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>ros2action</name>
-  <version>0.18.3</version>
+  <version>0.18.10</version>
   <description>
     The action command for ROS 2 command line tools.
   </description>

ros2action/ros2action/api/__init__.py

@@ -75,7 +75,7 @@ def action_name_completer(prefix, parsed_args, **kwargs):
 def action_type_completer(**kwargs):
     """Callable returning a list of action types."""
     action_types = []
-    for package_name, action_names in get_action_interfaces.items():
+    for package_name, action_names in get_action_interfaces().items():
         for action_name in action_names:
             action_types.append(f'{package_name}/{action_name}')
     return action_types

ros2action/setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='0.18.3',
+    version='0.18.10',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/' + package_name, ['package.xml']),

ros2cli/CHANGELOG.rst

@@ -2,6 +2,38 @@
 Changelog for package ros2cli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.18.10 (2024-05-15)
+--------------------
+
+0.18.9 (2024-02-16)
+-------------------
+
+0.18.8 (2024-01-24)
+-------------------
+* make handles not inheritable to prevent from blocking durning tab-completion (`#852 <https://github.com/ros2/ros2cli/issues/852>`_) (`#873 <https://github.com/ros2/ros2cli/issues/873>`_)
+* catch ExternalShutdownException ros2cli main. (`#854 <https://github.com/ros2/ros2cli/issues/854>`_) (`#859 <https://github.com/ros2/ros2cli/issues/859>`_)
+* Contributors: mergify[bot]
+
+0.18.7 (2023-07-18)
+-------------------
+* Set automatically_declare_parameters_from_overrides in DirectNode. (`#813 <https://github.com/ros2/ros2cli/issues/813>`_) (`#815 <https://github.com/ros2/ros2cli/issues/815>`_)
+* Contributors: mergify[bot]
+
+0.18.6 (2023-04-25)
+-------------------
+* Save method list via connection check to XMLRPC server. (`#796 <https://github.com/ros2/ros2cli/issues/796>`_) (`#798 <https://github.com/ros2/ros2cli/issues/798>`_)
+* Contributors: mergify[bot]
+
+0.18.5 (2023-01-10)
+-------------------
+* Fix network aware node issue (`#785 <https://github.com/ros2/ros2cli/issues/785>`_) (`#786 <https://github.com/ros2/ros2cli/issues/786>`_)
+* Contributors: mergify[bot]
+
+0.18.4 (2022-11-07)
+-------------------
+* XMLRPC server accepts request from all local IP addresses. (`#729 <https://github.com/ros2/ros2cli/issues/729>`_) (`#733 <https://github.com/ros2/ros2cli/issues/733>`_)
+* Contributors: mergify[bot]
+
 0.18.3 (2022-04-08)
 -------------------
 * Fix importlib_metadata warning on Python 3.10. (`#706 <https://github.com/ros2/ros2cli/issues/706>`_)

ros2cli/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>ros2cli</name>
-  <version>0.18.3</version>
+  <version>0.18.10</version>
   <description>
     Framework for ROS 2 command line tools.
   </description>

ros2cli/ros2cli/cli.py

@@ -19,6 +19,8 @@
 import signal
 import sys
 
+from rclpy.executors import ExternalShutdownException
+
 from ros2cli.command import add_subparsers_on_demand
 
 
@@ -89,6 +91,8 @@ def main(*, script_name='ros2', argv=None, description=None, extension=None):
         rc = extension.main(parser=parser, args=args)
     except KeyboardInterrupt:
         rc = signal.SIGINT
+    except ExternalShutdownException:
+        rc = signal.SIGTERM
     except RuntimeError as e:
         rc = str(e)
     return rc

ros2cli/ros2cli/node/daemon.py

@@ -14,6 +14,8 @@
 
 import errno
 import functools
+import os
+import platform
 import socket
 
 import rclpy
@@ -39,18 +41,18 @@ def __init__(self, args):
     @property
     def connected(self):
         try:
-            self._proxy.system.listMethods()
+            self._methods = [
+                method
+                for method in self._proxy.system.listMethods()
+                if not method.startswith('system.')
+            ]
         except ConnectionRefusedError:
             return False
         return True
 
     @property
     def methods(self):
-        return [
-            method
-            for method in self._proxy.system.listMethods()
-            if not method.startswith('system.')
-        ]
+        return self._methods
 
     def __enter__(self):
         self._proxy.__enter__()
@@ -130,6 +132,35 @@ def spawn_daemon(args, timeout=None, debug=False):
             return False
         raise
 
+    # During tab completion on the ros2 tooling, we can get here and attempt to spawn a daemon.
+    # In that scenario, there may be open file descriptors that can prevent us from successfully
+    # daemonizing, and instead cause the terminal to hang.  Here we mark all file handles except
+    # for 0, 1, 2, and the server socket as non-inheritable, which will cause daemonize() to close
+    # those file descriptors.  See https://github.com/ros2/ros2cli/issues/851 for more details.
+    if platform.system() != 'Windows':
+        # Some unices have a high soft_limit; read fdsize if available.
+        fdlimit = None
+        try:
+            string_to_find = 'FDSize:'
+            with open('/proc/self/status', 'r') as f:
+                for line in f:
+                    if line.startswith(string_to_find):
+                        fdlimit = int(line[len(string_to_find):].strip())
+                        break
+        except (FileNotFoundError, ValueError):
+            pass
+        # The soft limit might be quite high on some systems.
+        if fdlimit is None:
+            import resource
+            fdlimit, _ = resource.getrlimit(resource.RLIMIT_NOFILE)
+        for i in range(3, fdlimit):
+            try:
+                if i != server.socket.fileno() and os.get_inheritable(i):
+                    os.set_inheritable(i, False)
+            except OSError:
+                # Just in case the file handles might be [3(closed), ..., 8(pipe handle), ...]
+                continue
+
     # Transfer XMLRPC server to daemon (and the socket with it).
     try:
         tags = {

ros2cli/ros2cli/node/direct.py

@@ -49,7 +49,7 @@ def timer_callback():
             start_parameter_services=start_parameter_services,
             parameter_overrides=[
                 Parameter('use_sim_time', value=use_sim_time)
-            ])
+            ], automatically_declare_parameters_from_overrides=True)
 
         timeout = getattr(args, 'spin_time', DEFAULT_TIMEOUT)
         timer = self.node.create_timer(timeout, timer_callback)

ros2cli/ros2cli/node/network_aware.py

@@ -12,29 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections import defaultdict
+import functools
 import inspect
 
 import netifaces
 import rclpy
 
-from ros2cli.helpers import before_invocation
-
 from ros2cli.node.direct import DirectNode
 
 
 def get_interfaces_ip_addresses():
-    addresses_by_interfaces = {}
-    for (kind, info_list) in netifaces.gateways().items():
-        if kind not in (netifaces.AF_INET, netifaces.AF_INET6):
-            continue
-        print('Interface kind: {}, info: {}'.format(kind, info_list))
-        addresses_by_interfaces[kind] = {}
-        for info in info_list:
-            interface_name = info[1]
-            addresses_by_interfaces[kind][interface_name] = (
-                netifaces.ifaddresses(interface_name)[kind][0]['addr']
-            )
-    print('Addresses by interfaces: {}'.format(addresses_by_interfaces))
+    addresses_by_interfaces = defaultdict(functools.partial(defaultdict, set))
+    for interface_name in netifaces.interfaces():
+        for kind, info_list in netifaces.ifaddresses(interface_name).items():
+            for info in info_list:
+                addresses_by_interfaces[kind][interface_name].add(info['addr'])
+    print(f'Addresses by interfaces: {addresses_by_interfaces}')
     return addresses_by_interfaces
 
 
@@ -56,8 +50,13 @@ def __getattr__(self, name):
         attr = getattr(self.node, name)
 
         if inspect.ismethod(attr):
-            return before_invocation(
-                attr, self.reset_if_addresses_changed)
+            @functools.wraps(attr)
+            def wrapper(*args, **kwargs):
+                self.reset_if_addresses_changed()
+                # The attribute has to be get here again, in case self.node changed
+                return getattr(self.node, name)(*args, **kwargs)
+            wrapper.__signature__ = inspect.signature(attr)
+            return wrapper
         self.reset_if_addresses_changed()
         return attr
 
@@ -72,4 +71,4 @@ def reset_if_addresses_changed(self):
             rclpy.shutdown()
             self.node = DirectNode(self.args)
             self.node.__enter__()
-            print('Daemon node was reset')
+            print('Network interfaces changed, daemon node was reset!')

ros2cli/ros2cli/node/strategy.py

@@ -27,6 +27,9 @@ def __init__(self, args):
         if use_daemon and is_daemon_running(args):
             self._daemon_node = DaemonNode(args)
             self._direct_node = None
+            if not self._daemon_node.connected:
+                self._direct_node = DirectNode(args)
+                self._daemon_node = None
         else:
             if use_daemon:
                 spawn_daemon(args)

ros2cli/ros2cli/xmlrpc/local_server.py

@@ -18,6 +18,19 @@
 from xmlrpc.server import SimpleXMLRPCRequestHandler  # noqa
 from xmlrpc.server import SimpleXMLRPCServer
 
+import netifaces
+
+
+def get_local_ipaddrs():
+    iplist = []
+    interfaces = netifaces.interfaces()
+    for interface in interfaces:
+        addrs = netifaces.ifaddresses(interface)
+        if netifaces.AF_INET in addrs.keys():
+            for value in addrs[netifaces.AF_INET]:
+                iplist.append(value['addr'])
+    return iplist
+
 
 class LocalXMLRPCServer(SimpleXMLRPCServer):
 
@@ -37,6 +50,6 @@ def get_request(self):
         return sock, addr
 
     def verify_request(self, request, client_address):
-        if client_address[0] != '127.0.0.1':
+        if client_address[0] not in get_local_ipaddrs():
             return False
         return super(LocalXMLRPCServer, self).verify_request(request, client_address)

ros2cli/setup.py

@@ -3,7 +3,7 @@
 
 setup(
     name='ros2cli',
-    version='0.18.3',
+    version='0.18.10',
     packages=find_packages(exclude=['test']),
     extras_require={
         'completion': ['argcomplete'],

ros2cli/test/test_daemon.py

@@ -111,6 +111,10 @@ def daemon_node():
         assert shutdown_daemon(args=[], timeout=5.0)
     assert spawn_daemon(args=[], timeout=5.0)
     with DaemonNode(args=[]) as node:
+        if not node.connected:
+            pytest.fail(
+                f'failed to connect daemon {TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}'
+            )
         attempts = 3
         delay_between_attempts = 2  # seconds
         for _ in range(attempts):

ros2cli/test/test_strategy.py

@@ -45,6 +45,16 @@ def test_with_daemon_running(enforce_daemon_is_running):
         assert direct is not None
 
 
+def test_with_daemon_spawn(enforce_no_daemon_is_running):
+    with NodeStrategy(args=[]) as node:
+        assert node._daemon_node is None
+        assert node._direct_node is not None
+    # Daemon should be spawned by NodeStrategy call above
+    with NodeStrategy(args=[]) as node:
+        assert node._daemon_node is not None
+        assert node._direct_node is None
+
+
 def test_with_no_daemon_running(enforce_no_daemon_is_running):
     with NodeStrategy(args=[]) as node:
         assert node._daemon_node is None

ros2cli_test_interfaces/CHANGELOG.rst

@@ -2,6 +2,27 @@
 Changelog for package ros2cli_test_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.18.10 (2024-05-15)
+--------------------
+
+0.18.9 (2024-02-16)
+-------------------
+
+0.18.8 (2024-01-24)
+-------------------
+
+0.18.7 (2023-07-18)
+-------------------
+
+0.18.6 (2023-04-25)
+-------------------
+
+0.18.5 (2023-01-10)
+-------------------
+
+0.18.4 (2022-11-07)
+-------------------
+
 0.18.3 (2022-04-08)
 -------------------
 

ros2cli_test_interfaces/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros2cli_test_interfaces</name>
-  <version>0.18.3</version>
+  <version>0.18.10</version>
   <description>A package containing interface definitions for testing ros2cli.</description>
 
   <maintainer email="[email protected]">Aditya Pande</maintainer>