Fix: Allow source nodes to wait for stop signal (Fixes #500)#992
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ZhangHanDong wants to merge 7 commits intodora-rs:mainfrom
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Fix: Allow source nodes to wait for stop signal (Fixes #500)#992ZhangHanDong wants to merge 7 commits intodora-rs:mainfrom
ZhangHanDong wants to merge 7 commits intodora-rs:mainfrom
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phil-opp
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May 21, 2025
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Looks good to me overall, thanks a lot! There are some CI failures that are probably caused by the handling of runtime nodes/operators. See my inline comment.
phil-opp
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May 28, 2025
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Thanks for the adjustments!
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There is a permission error in CI/ROS2 Bridge Examples. |
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This CI might have some issues. I didn’t update the code for the past two weeks, but the CI kept running continuously for two weeks without showing any error messages.
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This was referenced Jan 12, 2026
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haixuanTao
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Jan 16, 2026
This keeps the event channel open for source nodes so that they can receive manual stop events. It also simplifies our policy around dealing with event stream closure: All nodes (including source nodes) should now exit once the event stream closes (i.e. after receiving a stop event of any kind). Note that this is technically a _breaking change_. However, we don't expect that there are nodes that rely on the immediate stop event and event stream closure. Because of this, we plan to treat this as a bugfix without doing a semver-breaking release. We should mention it prominently in the release docs though. Alternative to #992 Fixes #500
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Fixed #500
Currently, source (input-less) Dora nodes close their event stream immediately after startup, making them unable to receive an
Event::Stopsignal (such as fromCtrl+Cor dora stop). This prevents graceful shutdown.Solution:
A new optional node configuration field,
wait_for_stop: bool, is introduced to control event stream behavior after all inputs are closed:wait_for_stop: false: The event stream ends when all inputs are closed (default for nodes with inputs; unchanged).wait_for_stop: true: The event stream remains open until an explicitEvent::Stop signal is received (default for source nodes with no inputs).Users can override the default by setting this option explicitly in the dataflow YAML file.
Key Changes:
wait_for_stop: Option<bool> to descriptor::Node for YAML parsing.wait_for_stop: boolto descriptor::ResolvedNode to store the resolved value.descriptor::resolve_aliases_and_set_defaults to compute the finalResolvedNode.wait_for_stopvalue based on inputs and YAML settings. Fixed related ownership bug.ResolvedNode.wait_for_stop to the node communication listener (node_communication::spawn_listener_loop and implementation).node_communication::Listener) to check the wait_for_stopflag when deciding whether to send AllInputsClosed or end the event stream. The event stream now only ends naturally if wait_for_stop is false.Event::Stop, regardless of wait_for_stop.dora-schema.json to include thewait_for_stopfield.Impact:
Todos:
Todo Test: