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Release loop lock before waiting for it to do work #369

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merged 1 commit into from
Jan 17, 2020
Merged

Release loop lock before waiting for it to do work #369

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6 changes: 5 additions & 1 deletion launch/launch/launch_service.py
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Original file line number Diff line number Diff line change
Expand Up @@ -127,18 +127,22 @@ def emit_event(self, event: Event) -> None:

If the LaunchService is not running, the event is queued until it is.
"""
future = None
with self.__loop_from_run_thread_lock:
if self.__loop_from_run_thread is not None:
# loop is in use, asynchronously emit the event
future = asyncio.run_coroutine_threadsafe(
self.__context.emit_event(event),
self.__loop_from_run_thread
)
future.result()
else:
# loop is not in use, synchronously emit the event, and it will be processed later
self.__context.emit_event_sync(event)

if future is not None:
# Block until asynchronously emitted event is emitted by loop
future.result()

def include_launch_description(self, launch_description: LaunchDescription) -> None:
"""
Evaluate a given LaunchDescription and visits all of its entities.
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