call ok() to see if rclpy and context is initialized. (#1198)

Signed-off-by: Tomoya.Fujita <[email protected]>

Author: fujitatomoya

rclpy/rclpy/__init__.py

@@ -22,7 +22,7 @@
 #. Process node callbacks
 #. Shutdown
 
-Inititalization is done by calling :func:`init` for a particular :class:`.Context`.
+Initialization is done by calling :func:`init` for a particular :class:`.Context`.
 This must be done before any ROS nodes can be created.
 
 Creating a ROS node is done by calling :func:`create_node` or by instantiating a

rclpy/test/test_context.py

@@ -18,6 +18,7 @@
 def test_on_shutdown_method():
     context = Context()
     context.init()
+    assert context.ok()
 
     callback_called = False
 
@@ -31,13 +32,15 @@ def on_shutdown(self):
     context.on_shutdown(instance.on_shutdown)
 
     context.shutdown()
+    assert not context.ok()
 
     assert callback_called
 
 
 def test_on_shutdown_function():
     context = Context()
     context.init()
+    assert context.ok()
 
     callback_called = False
 
@@ -48,6 +51,7 @@ def on_shutdown():
     context.on_shutdown(on_shutdown)
 
     context.shutdown()
+    assert not context.ok()
 
     assert callback_called
 

rclpy/test/test_init_shutdown.py

@@ -22,6 +22,7 @@
 def test_init():
     context = rclpy.context.Context()
     rclpy.init(context=context)
+    assert context.ok()
     rclpy.shutdown(context=context)
 
 
@@ -47,15 +48,19 @@ def test_init_with_non_utf8_arguments():
 def test_init_shutdown_sequence():
     context = rclpy.context.Context()
     rclpy.init(context=context)
+    assert context.ok()
     rclpy.shutdown(context=context)
     context = rclpy.context.Context()  # context cannot be reused but should not interfere
     rclpy.init(context=context)
+    assert context.ok()
     rclpy.shutdown(context=context)
 
     # global
     rclpy.init()
+    assert rclpy.ok()
     rclpy.shutdown()
     rclpy.init()
+    assert rclpy.ok()
     rclpy.shutdown()
 
 
@@ -72,6 +77,7 @@ def test_double_init():
 def test_double_shutdown():
     context = rclpy.context.Context()
     rclpy.init(context=context)
+    assert context.ok()
     rclpy.shutdown(context=context)
     with pytest.raises(RuntimeError):
         rclpy.shutdown(context=context)