improving Python + cleaning Python viewer pub on shutdown

Author: mgonzs13

README.md

@@ -439,7 +439,7 @@ class FooState(State):
 
         Outcomes:
             outcome1: Indicates the state should continue.
-            outcome2: Indicates the state should cotninue.
+            outcome2: Indicates the state should continue.
             outcome3: Indicates the state should finish execution and return.
         """
         super().__init__(["outcome1", "outcome2", "outcome3"])

docs/tutorials/python/concurrence_demo.html

@@ -192,7 +192,7 @@ <h2>1. Create the FooState</h2>
 
         Outcomes:
             outcome1: Indicates the state should continue.
-            outcome2: Indicates the state should cotninue.
+            outcome2: Indicates the state should continue.
             outcome3: Indicates the state should finish execution and return.
         """
         super().__init__(["outcome1", "outcome2", "outcome3"])

yasmin_demos/yasmin_demos/concurrence_demo.py

@@ -37,7 +37,7 @@ def __init__(self) -> None:
 
         Outcomes:
             outcome1: Indicates the state should continue.
-            outcome2: Indicates the state should cotninue.
+            outcome2: Indicates the state should continue.
             outcome3: Indicates the state should finish execution and return.
         """
         super().__init__(["outcome1", "outcome2", "outcome3"])
@@ -59,8 +59,6 @@ def execute(self, blackboard: Blackboard) -> str:
         yasmin.YASMIN_LOG_INFO("Executing state FOO")
         time.sleep(2)  # Simulate work by sleeping
 
-        outcome = ""
-
         blackboard["foo_str"] = f"Counter: {self.counter}"
 
         if self.counter < 3:

yasmin_demos/yasmin_demos/factory_demo.py

@@ -51,6 +51,8 @@ def main() -> None:
         yasmin.YASMIN_LOG_INFO(outcome)
     except Exception as e:
         yasmin.YASMIN_LOG_WARN(e)
+    finally:
+        del sm
 
     # Shutdown ROS 2 if it's running
     if rclpy.ok():

yasmin_factory/yasmin_factory/yasmin_factory.py

@@ -29,7 +29,7 @@ def __init__(self) -> None:
         """
 
         self._cpp_factory = CppStateFactory()
-        self._xml_path = ""
+        self._xml_path: str = ""
 
     def create_state(self, state_elem: ET.Element) -> State:
         """
@@ -42,7 +42,6 @@ def create_state(self, state_elem: ET.Element) -> State:
             ValueError: If the state type is unknown or if required attributes
                         are missing.
         """
-
         state_type = state_elem.attrib.get("type", "py")
         class_name = state_elem.attrib["class"]
 
@@ -52,11 +51,10 @@ def create_state(self, state_elem: ET.Element) -> State:
             state_class = getattr(module, class_name)
             return state_class()
 
-        elif state_type == "cpp":
+        if state_type == "cpp":
             return self._cpp_factory.create(class_name)
 
-        else:
-            raise ValueError(f"Unknown state type: {state_type}")
+        raise ValueError(f"Unknown state type: {state_type}")
 
     def create_concurrence(self, conc_elem: ET.Element) -> Concurrence:
         """
@@ -121,11 +119,11 @@ def create_sm(self, root: ET.Element) -> StateMachine:
                 try:
                     package_path = get_package_share_path(package)
                     file_path = ""
-                    for root, dirs, files in os.walk(package_path):
+                    for dirpath, _, files in os.walk(package_path):
                         if file_name in files:
-                            file_path = os.path.join(root, file_name)
+                            file_path = os.path.join(dirpath, file_name)
                             break
-                except Exception as e:
+                except Exception:
                     file_path = ""
 
         if file_path:

yasmin_factory/yasmin_factory/yasmin_factory_node.py

@@ -51,6 +51,8 @@ def main() -> None:
         yasmin.YASMIN_LOG_INFO(outcome)
     except Exception as e:
         yasmin.YASMIN_LOG_WARN(e)
+    finally:
+        del sm
 
     # Shutdown ROS 2 if it's running
     if rclpy.ok():

yasmin_ros/yasmin_ros/monitor_state.py

@@ -147,7 +147,7 @@ def execute(self, blackboard: Blackboard) -> str:
             if self.is_canceled():
                 return CANCEL
 
-            while self._timeout is not None and not timeout_flag:
+            if self._timeout is not None and not timeout_flag:
                 yasmin.YASMIN_LOG_WARN(
                     f"Timeout reached, topic '{self._topic_name}' is not available"
                 )

yasmin_viewer/yasmin_viewer/yasmin_viewer_pub.py

@@ -73,6 +73,22 @@ def __init__(
         ## A timer to periodically publish the FSM state.
         self._timer = self._node.create_timer(1 / rate, self._publish_data)
 
+        ## Register shutdown callback to clean up the viewer.
+        self._node.context.on_shutdown(self._on_shutdown)
+
+    def _on_shutdown(self) -> None:
+        """
+        Callback executed on shutdown to clean the viewer.
+
+        Publishes an empty state machine message to clear the viewer display.
+
+        Returns:
+            None
+        """
+        self._pub = None
+        self._timer = None
+        self._fsm = None
+
     def parse_transitions(self, transitions: Dict[str, str]) -> List[TransitionMsg]:
         """
         Converts a dictionary of transitions into a list of TransitionMsg.