context.on_shutdown is never called

  ros2/rclpy#1287

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclpy/setup.py

@@ -75,6 +75,7 @@
             'rclpy_1163_sub = src.rclpy_1163_sub:main',
             'rclpy_1199 = src.rclpy_1199:main',
             'rclpy_1273 = src.rclpy_1273:main',
+            'rclpy_1287 = src.rclpy_1287:main',
             'ros2cli_818 = src.ros2cli_818:main',
             'ros2cli_862 = src.ros2cli_862:main',
             'ros2cli_885 = src.ros2cli_885:main',

prover_rclpy/src/rclpy_1287.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+import signal
+import sys
+
+import rclpy
+import rclpy.node
+
+from rclpy.executors import ExternalShutdownException
+from rclpy.signals import SignalHandlerOptions
+
+def shutdown_handler():
+    print("exit")
+
+def main(args=None):
+    def signal_handler(sig, frame):
+        # this handler should be called before deferred signal handler
+        print("signal receive\n")
+        rclpy.shutdown()
+        #rclpy.try_shutdown()
+    signal.signal(signal.SIGINT, signal_handler)
+
+    rclpy.init(args=args)
+    #rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO)
+
+    try:
+        node = rclpy.create_node("test_node")
+
+        node.context.on_shutdown(shutdown_handler)
+        rclpy.get_default_context().on_shutdown(shutdown_handler)
+
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
+
+    #rclpy.shutdown()
+    rclpy.try_shutdown()
+
+
+if __name__ == "__main__":
+    main()