Refactor: move Node initialization to BaseNode#5
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* Feature: BaseClock Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> * Fix: JumpHandle accept BaseClock, generic __repr__ Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> * Fix: Use BaseClock type in TimeSource, no __init__ parameters for ROSClock Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> * Feature: add tests Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> * Feature: test ros time functions when clock type is not ros time Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> * Fix: called a property method Co-authored-by: Michael Carroll <carroll.michael@gmail.com> Signed-off-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> * Refactor: initial extraction of BaseNode Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> * Move track_node to Node.__init__() Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> * Cr: add destroy_node method to BaseNode Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> --------- Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> Signed-off-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> Co-authored-by: Michael Carroll <carroll.michael@gmail.com>
…ice to BaseNode Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>
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Part of ros2#1620
Changes
BaseNodeinitialization logic fromNode.__init__intoBaseNode.__init__BaseNode(create_publisher,create_subscription,create_service,_create_service) so BaseNode can construct the parameter event publisher, parameter services and type description serviceBaseNode(_create_publisher_handle,_create_subscription_handle,_create_service_handle,_create_client_handle)TimeSource,ParameterService,LoggingService,TypeDescriptionServiceretyped to acceptBaseNodeinstead ofNodeTimeSource._clock_subcleans itself up viaself._clock_sub.destroy()instead ofnode.destroy_subscription(...)to decouple fromNode's entity listsTypeDescriptionService._start_servicenow callsnode._create_service(...)instead of directly constructing aServiceTimeSource.attach_clockis called withself.get_clock()inBaseNode.__init__instead ofself._clockNode.destroy_node()no longer callsself._type_description_service.destroy()explicitly and is destroyed by the entity teardown loop in Node.destroy_node() instead