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Re-spawn a process only if returncode != 0 #514

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Re-spawn a process only if returncode != 0 #514

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26fb788
Respawn a process only if `returncode != 0`
lukicdarkoo Jun 21, 2021
ec022d2
Line length
lukicdarkoo Jun 21, 2021
8d38cbf
Test
lukicdarkoo Jun 21, 2021
108ad50
Update test_execute_process.py
lukicdarkoo Jul 3, 2021
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3 changes: 2 additions & 1 deletion launch/launch/actions/execute_process.py
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Original file line number Diff line number Diff line change
Expand Up @@ -766,7 +766,8 @@ async def __execute_process(self, context: LaunchContext) -> None:
))
await context.emit_event(ProcessExited(returncode=returncode, **process_event_args))
# respawn the process if necessary
if not context.is_shutdown and not self.__shutdown_future.done() and self.__respawn:
if not context.is_shutdown and not self.__shutdown_future.done() and self.__respawn and \
returncode != 0:
if self.__respawn_delay is not None and self.__respawn_delay > 0.0:
# wait for a timeout(`self.__respawn_delay`) to respawn the process
# and handle shutdown event with future(`self.__shutdown_future`)
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2 changes: 1 addition & 1 deletion launch/test/launch/test_execute_process.py
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Expand Up @@ -152,7 +152,7 @@ def generate_launch_description():
return LaunchDescription([

ExecuteProcess(
cmd=[sys.executable, '-c', "print('action')"],
cmd=[sys.executable, '-c', "import sys; print('action'); sys.exit(1)"],
respawn=True, respawn_delay=respawn_delay, on_exit=on_exit_callback
),

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