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Manage leasing resources properly #92

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merged 2 commits into from
Mar 19, 2024
Merged

Manage leasing resources properly #92

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e20b28d
Manage leasing resources properly
mhidalgo-bdai Mar 6, 2024
4463731
Fix SpotWrapper.getLease implementation
mhidalgo-bdai Mar 7, 2024
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35 changes: 30 additions & 5 deletions spot_wrapper/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -944,6 +944,8 @@ def resetEStop(self) -> None:
"""Get keepalive for eStop"""
self._estop_endpoint = EstopEndpoint(self._estop_client, SPOT_CLIENT_NAME, self._estop_timeout)
self._estop_endpoint.force_simple_setup() # Set this endpoint as the robot's sole estop.
if self._estop_keepalive:
self._estop_keepalive.shutdown()
self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)

def assertEStop(self, severe: bool = True) -> typing.Tuple[bool, str]:
Expand Down Expand Up @@ -975,21 +977,44 @@ def releaseEStop(self) -> None:
"""Stop eStop keepalive"""
if self._estop_keepalive:
self._estop_keepalive.stop()
self._estop_keepalive.shutdown()
self._estop_keepalive = None
self._estop_endpoint = None

def getLease(self) -> None:
def takeLease(self) -> typing.Tuple[bool, typing.Optional[Lease]]:
"""Take lease for the robot, which may have been taken already."""
lease = self._lease_client.take()
have_new_lease = (self._lease is None and lease is not None) or (
str(lease.lease_proto) != str(self._lease.lease_proto)
)
if have_new_lease:
if self._lease_keepalive is not None:
self._lease_keepalive.shutdown()
self._lease_keepalive = LeaseKeepAlive(self._lease_client)
self._lease = lease
return have_new_lease, self._lease

def getLease(self) -> typing.Optional[Lease]:
"""Get a lease for the robot and keep the lease alive automatically."""
if self._use_take_lease:
self._lease = self._lease_client.take()
lease = self._lease_client.take()
else:
self._lease = self._lease_client.acquire()

self._lease_keepalive = LeaseKeepAlive(self._lease_client)
lease = self._lease_client.acquire()
have_new_lease = (self._lease is None and lease is not None) or (
str(lease.lease_proto) != str(self._lease.lease_proto)
)
if have_new_lease:
if self._lease_keepalive is not None:
self._lease_keepalive.shutdown()
self._lease_keepalive = LeaseKeepAlive(self._lease_client)
self._lease = lease
return self._lease

def releaseLease(self) -> None:
"""Return the lease on the body."""
if self._lease:
self._lease_keepalive.shutdown()
self._lease_keepalive = None
self._lease_client.return_lease(self._lease)
self._lease = None

Expand Down
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