Save method list via connection check to XMLRPC server. (#796)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

ros2cli/ros2cli/node/daemon.py

@@ -39,18 +39,18 @@ def __init__(self, args):
     @property
     def connected(self):
         try:
-            self._proxy.system.listMethods()
+            self._methods = [
+                method
+                for method in self._proxy.system.listMethods()
+                if not method.startswith('system.')
+            ]
         except ConnectionRefusedError:
             return False
         return True
 
     @property
     def methods(self):
-        return [
-            method
-            for method in self._proxy.system.listMethods()
-            if not method.startswith('system.')
-        ]
+        return self._methods
 
     def __enter__(self):
         self._proxy.__enter__()

ros2cli/ros2cli/node/strategy.py

@@ -27,6 +27,9 @@ def __init__(self, args):
         if use_daemon and is_daemon_running(args):
             self._daemon_node = DaemonNode(args)
             self._direct_node = None
+            if not self._daemon_node.connected:
+                self._direct_node = DirectNode(args)
+                self._daemon_node = None
         else:
             if use_daemon:
                 spawn_daemon(args)

ros2cli/test/test_daemon.py

@@ -111,6 +111,10 @@ def daemon_node():
         assert shutdown_daemon(args=[], timeout=5.0)
     assert spawn_daemon(args=[], timeout=5.0)
     with DaemonNode(args=[]) as node:
+        if not node.connected:
+            pytest.fail(
+                f'failed to connect daemon {TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}'
+            )
         attempts = 3
         delay_between_attempts = 2  # seconds
         for _ in range(attempts):

ros2cli/test/test_strategy.py

@@ -45,6 +45,16 @@ def test_with_daemon_running(enforce_daemon_is_running):
         assert direct is not None
 
 
+def test_with_daemon_spawn(enforce_no_daemon_is_running):
+    with NodeStrategy(args=[]) as node:
+        assert node._daemon_node is None
+        assert node._direct_node is not None
+    # Daemon should be spawned by NodeStrategy call above
+    with NodeStrategy(args=[]) as node:
+        assert node._daemon_node is not None
+        assert node._direct_node is None
+
+
 def test_with_no_daemon_running(enforce_no_daemon_is_running):
     with NodeStrategy(args=[]) as node:
         assert node._daemon_node is None