Merge pull request #178 from aica-technology/feat/lifecycle-cleanup

CHANGELOG.md

@@ -24,6 +24,7 @@ Release Versions:
  - fix(controllers): move predicate publishing rate parameter to BaseControllerInterface (#168)
  - feat(components): get clproto message type from attribute (#175)
  - fix(components): add missing test case (#181)
+ - fix(components): clean up lifecycle nodes properly (#178)
 
 ## 5.0.2
 

source/modulo_components/modulo_components/lifecycle_component.py

@@ -4,14 +4,24 @@
 from lifecycle_msgs.msg import State
 from modulo_components.component_interface import ComponentInterface
 from modulo_core.exceptions import AddSignalError
+from rclpy.callback_groups import CallbackGroup
 from rclpy.lifecycle import LifecycleNodeMixin, LifecycleState
 from rclpy.lifecycle.node import TransitionCallbackReturn
 
 MsgT = TypeVar('MsgT')
 LIFECYCLE_NODE_MIXIN_KWARGS = ["enable_communication_interface", "callback_group"]
 
 
-class LifecycleComponent(ComponentInterface, LifecycleNodeMixin):
+class _LifecycleNodeMixin(LifecycleNodeMixin):
+    def __init__(self, enable_communication_interface: bool = True, callback_group: Optional[CallbackGroup] = None):
+        super().__init__(enable_communication_interface=enable_communication_interface, callback_group=callback_group)
+
+    def destroy(self):
+        self._state_machine = None
+        self._callbacks = {}
+
+
+class LifecycleComponent(ComponentInterface, _LifecycleNodeMixin):
     """
     Class to represent a LifecycleComponent in python, following the same logic pattern
     as the C++ modulo_components::LifecycleComponent class.
@@ -25,9 +35,16 @@ def __init__(self, node_name: str, *args, **kwargs):
         """
         lifecycle_node_kwargs = {key: value for key, value in kwargs.items() if key in LIFECYCLE_NODE_MIXIN_KWARGS}
         ComponentInterface.__init__(self, node_name, *args, **kwargs)
-        LifecycleNodeMixin.__init__(self, *args, **lifecycle_node_kwargs)
+        _LifecycleNodeMixin.__init__(self, **lifecycle_node_kwargs)
         self.__has_error = False
 
+    def destroy_node(self):
+        """
+        Cleanly destroy the node by cleaning up the Mixin class.
+        """
+        _LifecycleNodeMixin.destroy(self)
+        ComponentInterface.destroy_node(self)
+
     def get_lifecycle_state(self) -> LifecycleState:
         """
         Get the current state of the component.