fix: Reduce idle CPU consumption of websocket server (backport #1040) (#1153)

Author: bjsowa

rosbridge_server/scripts/rosbridge_websocket.py

@@ -34,16 +34,19 @@
 from __future__ import annotations
 
 import argparse
+import asyncio
+import signal
 import sys
+import threading
 import time
 from typing import TYPE_CHECKING, cast
 
 import rclpy
 from rcl_interfaces.msg import ParameterDescriptor
+from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.utilities import remove_ros_args
 from tornado.httpserver import HTTPServer
-from tornado.ioloop import IOLoop, PeriodicCallback
 from tornado.netutil import bind_sockets
 from tornado.web import Application
 
@@ -53,14 +56,6 @@
     from tornado.routing import _RuleList
 
 
-def start_hook() -> None:
-    IOLoop.instance().start()
-
-
-def shutdown_hook() -> None:
-    IOLoop.instance().stop()
-
-
 SERVER_PARAMETERS = (
     # Server parameters
     ("port", int, 9090, "Port to listen on for WebSocket connections."),
@@ -132,6 +127,7 @@ def __init__(self) -> None:
 
         RosbridgeWebSocket.node_handle = self
         RosbridgeWebSocket.client_manager = ClientManager(self)
+        RosbridgeWebSocket.event_loop = asyncio.get_event_loop()
 
         self._handle_parameters()
 
@@ -230,30 +226,42 @@ def _start_server(self) -> None:
                 time.sleep(self.retry_startup_delay)
 
 
-def main() -> None:
-    rclpy.init()
+async def async_main() -> None:
+    rclpy.init(args=sys.argv, signal_handler_options=rclpy.signals.SignalHandlerOptions.NO)
+
     node = RosbridgeWebsocketNode()
 
-    executor = rclpy.executors.SingleThreadedExecutor()
+    executor = SingleThreadedExecutor()
     executor.add_node(node)
 
-    def spin_ros() -> None:
-        if not rclpy.ok():
-            shutdown_hook()
+    spin_thread = threading.Thread(target=executor.spin)
+    spin_thread.start()
+
+    loop = asyncio.get_running_loop()
+    stop_event = asyncio.Event()
+    signal_handled = False
+
+    def handle_signal() -> None:
+        nonlocal signal_handled
+        if signal_handled:
             return
-        executor.spin_once(timeout_sec=0.01)
-
-    spin_callback = PeriodicCallback(spin_ros, 1)
-    spin_callback.start()
-    try:
-        start_hook()
-        node.destroy_node()
-        rclpy.shutdown()
-    except KeyboardInterrupt:
         print("Exiting due to SIGINT")
-    finally:
-        spin_callback.stop()
-        shutdown_hook()  # shutdown hook to stop the server
+        stop_event.set()
+        executor.shutdown()
+        signal_handled = True
+
+    for sig in (signal.SIGINT, signal.SIGTERM):
+        loop.add_signal_handler(sig, handle_signal)
+
+    await stop_event.wait()
+    spin_thread.join()
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+def main() -> None:
+    asyncio.run(async_main())
 
 
 if __name__ == "__main__":

rosbridge_server/src/rosbridge_server/websocket_handler.py

@@ -32,18 +32,19 @@
 
 from __future__ import annotations
 
+import asyncio
 import sys
 import threading
 import traceback
 import uuid
+from asyncio.events import AbstractEventLoop
 from collections import deque
-from functools import partial, wraps
+from functools import wraps
 from typing import TYPE_CHECKING, ClassVar, ParamSpec, TypeVar
 
 from rclpy.node import Node
 from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
 from rosbridge_library.util import bson
-from tornado.ioloop import IOLoop
 from tornado.iostream import StreamClosedError
 from tornado.websocket import WebSocketClosedError, WebSocketHandler
 
@@ -52,8 +53,6 @@
 
     from .client_manager import ClientManager
 
-_io_loop = IOLoop.instance()
-
 
 def _log_exception() -> None:
     """Log the most recent exception to ROS."""
@@ -132,6 +131,9 @@ class RosbridgeWebSocket(WebSocketHandler):
     # Class variable to manage connected clients
     client_manager: ClassVar[ClientManager | None] = None
 
+    # Event loop to run the coroutines on
+    event_loop: ClassVar[AbstractEventLoop | None] = None
+
     # Node handle to pass to RosbridgeProtocol when opening a connection
     node_handle: ClassVar[Node | None] = None
 
@@ -189,12 +191,15 @@ def on_close(self) -> None:
         self.incoming_queue.finish()
 
     def send_message(self, message: bson.BSON | bytearray | str, compression: str = "none") -> None:
+        cls = self.__class__
+        assert isinstance(cls.event_loop, AbstractEventLoop), "Event loop was not set"
+
         if isinstance(message, bson.BSON) or compression in ["cbor", "cbor-raw"]:
             binary = True
         else:
             binary = False
 
-        _io_loop.add_callback(partial(self.prewrite_message, message, binary))
+        asyncio.run_coroutine_threadsafe(self.prewrite_message(message, binary), cls.event_loop)
 
     async def prewrite_message(self, message: bson.BSON | bytearray | str, binary: bool) -> None:
         cls = self.__class__