# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Module for the Shutdown action."""
import logging
from typing import Any
from typing import Dict
from typing import Text
from typing import Tuple
from typing import Type
from launch.frontend import Entity
from launch.frontend import expose_action
from launch.frontend import Parser
from .emit_event import EmitEvent
from ..events import Shutdown as ShutdownEvent
from ..events.process import ProcessExited
from ..launch_context import LaunchContext
_logger = logging.getLogger(name='launch')
[docs]
@expose_action('shutdown')
class Shutdown(EmitEvent):
"""Action that shuts down a launched system by emitting Shutdown when executed."""
[docs]
def __init__(self, *, reason: Text = 'reason not given', **kwargs: Any):
super().__init__(event=ShutdownEvent(reason=reason), **kwargs)
[docs]
@classmethod
def parse(cls, entity: Entity, parser: Parser
) -> Tuple[Type['Shutdown'], Dict[str, Any]]:
"""Return `Shutdown` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
reason = entity.get_attr('reason', optional=True)
if reason:
kwargs['reason'] = parser.parse_substitution(reason)
return cls, kwargs
[docs]
def execute(self, context: LaunchContext) -> None:
"""Execute the action."""
try:
event = context.locals.event
except AttributeError:
event = None
if isinstance(event, ProcessExited):
_logger.info('process[{}] was required: shutting down launched system'.format(
event.process_name))
super().execute(context)