removed deprecated loop parameter call (#387) (#410)

Signed-off-by: zmk5 <zkakish@gmail.com>

launch/launch/actions/timer_action.py

@@ -81,7 +81,6 @@ def __init__(
     async def __wait_to_fire_event(self, context):
         done, pending = await asyncio.wait(
             [self.__canceled_future],
-            loop=context.asyncio_loop,
             timeout=float(perform_substitutions(context, self.__period)),
         )
         if not self.__canceled_future.done():

launch/launch/launch_service.py

@@ -158,23 +158,23 @@ def _is_idle(self):
         return number_of_entity_future_pairs == 0 and self.__context._event_queue.empty()
 
     @contextlib.contextmanager
-    def _prepare_run_loop(self, loop):
+    def _prepare_run_loop(self):
         try:
             # Acquire the lock and initialize the loop.
             with self.__loop_from_run_thread_lock:
                 if self.__loop_from_run_thread is not None:
                     raise RuntimeError(
                         'LaunchService cannot be run multiple times concurrently.'
                     )
-                this_loop = asyncio.get_event_loop() if loop is None else loop
+                this_loop = asyncio.get_event_loop()
 
                 if self.__debug:
                     this_loop.set_debug(True)
 
                 # Set the asyncio loop for the context.
                 self.__context._set_asyncio_loop(this_loop)
                 # Recreate the event queue to ensure the same event loop is being used.
-                new_queue = asyncio.Queue(loop=this_loop)
+                new_queue = asyncio.Queue()
                 while True:
                     try:
                         new_queue.put_nowait(self.__context._event_queue.get_nowait())
@@ -299,7 +299,7 @@ async def __process_event(self, event: Event) -> None:
                 #     'launch.LaunchService',
                 #     "processing event: '{}' x '{}'".format(event, event_handler))
 
-    async def run_async(self, *, shutdown_when_idle=True, loop=None) -> int:
+    async def run_async(self, *, shutdown_when_idle=True) -> int:
         """
         Visit all entities of all included LaunchDescription instances asynchronously.
 
@@ -318,7 +318,7 @@ async def run_async(self, *, shutdown_when_idle=True, loop=None) -> int:
             )
 
         return_code = 0
-        with self._prepare_run_loop(loop) as (this_loop, this_task):
+        with self._prepare_run_loop() as (this_loop, this_task):
             # Log logging configuration details.
             launch.logging.log_launch_config(logger=self.__logger)
 
@@ -351,7 +351,6 @@ def _on_exception(loop, context):
                         while not done:
                             done, pending = await asyncio.wait(
                                 entity_futures,
-                                loop=this_loop,
                                 timeout=1.0,
                                 return_when=asyncio.FIRST_COMPLETED
                             )
@@ -389,7 +388,7 @@ def run(self, *, shutdown_when_idle=True) -> int:
         """
         loop = osrf_pycommon.process_utils.get_loop()
         run_async_task = loop.create_task(self.run_async(
-            shutdown_when_idle=shutdown_when_idle, loop=loop
+            shutdown_when_idle=shutdown_when_idle
         ))
         loop.run_until_complete(run_async_task)
         return run_async_task.result()