Move lifetime management completly to C

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

rclpy/rclpy/guard_condition.py

@@ -23,7 +23,6 @@ def __init__(self, callback, callback_group, context=None):
         self._context = get_default_context() if context is None else context
         with self._context.handle as capsule:
             self.__handle = Handle(_rclpy.rclpy_create_guard_condition(capsule))
-        self.__handle.requires(self._context.handle)
         self.callback = callback
         self.callback_group = callback_group
         # True when the callback is ready to fire but has not been "taken" by an executor

rclpy/rclpy/handle.py

@@ -94,23 +94,6 @@ def destroy(self, then=None):
             if 0 == self.__use_count:
                 self.__destroy()
 
-    def requires(self, req_handle):
-        """
-        Add a required handle.
-
-        Indicates that the object manged by `req_handle` has to live longer than the object
-        managed by this handle.
-        """
-        assert isinstance(req_handle, Handle)
-        with self.__lock, req_handle.__lock:
-            if not self.__valid:
-                raise InvalidHandle('Cannot require a new handle if already destroyed')
-            if req_handle.__valid:
-                _rclpy_handle.rclpy_handle_add_dependency(self.__capsule, req_handle.__capsule)
-            else:
-                # required handle destroyed before we could link to it, destroy self
-                self.destroy()
-
     def _get_capsule(self):
         """
         Get the pycapsule managed by this handle.

rclpy/rclpy/node.py

@@ -178,7 +178,6 @@ def __init__(
                 validate_namespace(namespace)
                 # Should not get to this point
                 raise RuntimeError('rclpy_create_node failed for unknown reason')
-        self.__handle.requires(self._context.handle)
         with self.handle as capsule:
             self._logger = get_logger(_rclpy.rclpy_get_node_logger_name(capsule))
 
@@ -1141,7 +1140,6 @@ def create_publisher(
             self._validate_topic_or_service_name(topic)
 
         publisher_handle = Handle(publisher_capsule)
-        publisher_handle.requires(self.handle)
 
         publisher = Publisher(
             publisher_handle, msg_type, topic, qos_profile,
@@ -1200,7 +1198,6 @@ def create_subscription(
             self._validate_topic_or_service_name(topic)
 
         subscription_handle = Handle(subscription_capsule)
-        subscription_handle.requires(self.handle)
 
         subscription = Subscription(
             subscription_handle, msg_type,
@@ -1248,7 +1245,6 @@ def create_client(
             self._validate_topic_or_service_name(srv_name, is_service=True)
 
         client_handle = Handle(client_capsule)
-        client_handle.requires(self.handle)
 
         client = Client(
             self.context,
@@ -1296,7 +1292,6 @@ def create_service(
             self._validate_topic_or_service_name(srv_name, is_service=True)
 
         service_handle = Handle(service_capsule)
-        service_handle.requires(self.handle)
 
         service = Service(
             service_handle,
@@ -1331,7 +1326,6 @@ def create_timer(
         if clock is None:
             clock = self._clock
         timer = Timer(callback, callback_group, timer_period_nsec, clock, context=self.context)
-        timer.handle.requires(self.handle)
 
         self.__timers.append(timer)
         callback_group.add_entity(timer)
@@ -1347,7 +1341,6 @@ def create_guard_condition(
         if callback_group is None:
             callback_group = self.default_callback_group
         guard = GuardCondition(callback, callback_group, context=self.context)
-        guard.handle.requires(self.handle)
 
         self.__guards.append(guard)
         callback_group.add_entity(guard)

rclpy/rclpy/qos_event.py

@@ -115,7 +115,6 @@ def __init__(
         with parent_handle as parent_capsule:
             event_capsule = _rclpy.rclpy_create_event(event_type, parent_capsule)
         self._event_handle = Handle(event_capsule)
-        self._event_handle.requires(self._parent_handle)
         self._ready_to_take_data = False
         self._event_index = None
 

rclpy/rclpy/timer.py

@@ -29,8 +29,6 @@ def __init__(self, callback, callback_group, timer_period_ns, clock, *, context=
         with self._clock.handle as clock_capsule, self._context.handle as context_capsule:
             self.__handle = Handle(_rclpy.rclpy_create_timer(
                 clock_capsule, context_capsule, timer_period_ns))
-        self.__handle.requires(self._clock.handle)
-        self.__handle.requires(self._context.handle)
         self.timer_period_ns = timer_period_ns
         self.callback = callback
         self.callback_group = callback_group