Merge branch 'main' of https://github.com/RobotWebTools/roslibpy into websockets-asyncio

Author: gonzalocasas

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 2.0.0
+current_version = 2.0.1
 message = Bump version to {new_version}
 commit = True
 tag = True

.github/workflows/pr-checks.yml

@@ -10,7 +10,7 @@ jobs:
     name: Check Actions
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       - name: Changelog check
         uses: Zomzog/changelog-checker@09cfe9ad3618dcbfdba261adce0c41904cabb8c4 # v1.3.0
         with:

.github/workflows/release.yml

@@ -10,7 +10,7 @@ jobs:
     name: publish release
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           fetch-depth: 0
       - name: Verify tag is on main branch

.github/workflows/test-ros1.yml

@@ -31,7 +31,7 @@ jobs:
             os: ubuntu-latest
             python-version: "3.11"
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v6
         with:

.github/workflows/test-ros2.yml

@@ -35,7 +35,7 @@ jobs:
             os: ubuntu-latest
             python-version: "3.12"
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v6
         with:

CHANGELOG.rst

@@ -26,6 +26,25 @@ Unreleased
 
 **Removed**
 
+2.0.1
+----------
+
+**Added**
+
+**Changed**
+
+**Fixed**
+
+* Fixed reconnection on the Twisted transport failing after a connection had
+  been idle for more than a few seconds: ``connect`` now schedules the
+  connection through the reactor thread so an idle reactor is woken to service
+  it (previously the new connector was added from another thread and the
+  reactor, blocked in ``select()``, never noticed it).
+
+**Deprecated**
+
+**Removed**
+
 2.0.0
 ----------
 

docs/conf.py

@@ -25,7 +25,7 @@
 year = "2019"
 author = "Gramazio Kohler Research"
 copyright = "{0}, {1}".format(year, author)
-version = release = "2.0.0"
+version = release = "2.0.1"
 
 pygments_style = "trac"  # Perhaps change to sphinx
 templates_path = ["."]

src/roslibpy/__version__.py

@@ -4,7 +4,7 @@
 __title__ = "roslibpy"
 __description__ = "Python ROS Bridge library."
 __url__ = "https://github.com/gramaziokohler/roslibpy"
-__version__ = "2.0.0"
+__version__ = "2.0.1"
 __author__ = "Gramazio Kohler Research"
 __author_email__ = "gramaziokohler@arch.ethz.ch"
 __license__ = "MIT license"

src/roslibpy/comm/comm_autobahn.py

@@ -71,6 +71,16 @@ def __init__(self, *args, **kwargs):
 
     def connect(self):
         """Establish WebSocket connection to the ROS server defined for this factory."""
+        # Route the connection setup through the reactor thread. Calling
+        # ``connectWS`` directly only happens to work while the reactor is busy;
+        # once it is idle (e.g. more than ``closeHandshakeTimeout`` seconds after
+        # a previous disconnect) it sits blocked in ``select()`` and never
+        # notices a connector added from another thread, so the connection times
+        # out. ``callFromThread`` wakes it, and is also safe before the reactor
+        # has started (the call is queued and runs once it does).
+        reactor.callFromThread(self._connect)
+
+    def _connect(self):
         self.connector = connectWS(self)
 
     @property