[CI] Fail in case of process crash ⚠️ (#42)

robotique-ecam · Mar 24, 2021 · 4b68ac1 · 4b68ac1
1 parent 269f56c
commit 4b68ac1
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Showing 3 changed files with 48 additions and 3 deletions.
diff --git a/src/titan/launch/cloud-interfaces.py b/src/titan/launch/cloud-interfaces.py
@@ -9,9 +9,17 @@
 from ament_index_python.packages import get_package_share_directory
 
 import launch
-from launch.actions import GroupAction, IncludeLaunchDescription
+from launch.actions import (
+    GroupAction,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+    EmitEvent,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
+from launch.events import Shutdown
+from launch.event_handlers import OnProcessExit
+
 
 robots = ["asterix"]
 
@@ -48,4 +56,13 @@ def generate_launch_description():
                 ]
             )
         ]
+        + [
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    on_exit=[
+                        EmitEvent(event=Shutdown()),
+                    ]
+                )
+            )
+        ]
     )
diff --git a/src/titan/launch/core.py b/src/titan/launch/core.py
@@ -9,8 +9,11 @@
 from ament_index_python.packages import get_package_share_directory
 
 import launch
-from launch.actions import IncludeLaunchDescription
+from launch.actions import IncludeLaunchDescription, RegisterEventHandler, EmitEvent
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.events import Shutdown
+from launch.event_handlers import OnProcessExit
+
 
 robots = ["asterix"]
 
@@ -31,4 +34,13 @@ def generate_launch_description():
             )
             for robot in robots
         ]
+        + [
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    on_exit=[
+                        EmitEvent(event=Shutdown()),
+                    ]
+                )
+            )
+        ]
     )
diff --git a/src/titan/launch/interfaces.py b/src/titan/launch/interfaces.py
@@ -9,9 +9,16 @@
 from ament_index_python.packages import get_package_share_directory
 
 import launch
-from launch.actions import GroupAction, IncludeLaunchDescription
+from launch.actions import (
+    GroupAction,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+    EmitEvent,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
+from launch.events import Shutdown
+from launch.event_handlers import OnProcessExit
 from webots_ros2_core.webots_launcher import WebotsLauncher
 
 
@@ -72,4 +79,13 @@ def generate_launch_description():
                 ]
             )
         ]
+        + [
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    on_exit=[
+                        EmitEvent(event=Shutdown()),
+                    ]
+                )
+            )
+        ]
     )