Add __enter__ and __exit__ to JumpHandle

rclpy/rclpy/clock.py

@@ -95,6 +95,12 @@ def unregister(self):
  self._clock.handle.remove_clock_callback(self)
  self._clock = None
 
+ def __enter__(self):
+ return self
+
+ def __exit__(self, t, v, tb):
+ self.unregister()
+
 
 class Clock:
 

rclpy/test/test_clock.py

@@ -18,6 +18,7 @@
 
 from rclpy.clock import Clock
 from rclpy.clock import ClockType
+from rclpy.clock import JumpHandle
 from rclpy.clock import JumpThreshold
 from rclpy.clock import ROSClock
 from rclpy.duration import Duration
@@ -179,3 +180,20 @@ def test_triggered_clock_change_callbacks(self):
  handler1.unregister()
  handler2.unregister()
  handler3.unregister()
+
+
+def test_with_jump_handle():
+ clock = ROSClock()
+ clock._set_ros_time_is_active(False)
+
+ post_callback = Mock()
+ threshold = JumpThreshold(min_forward=None, min_backward=None, on_clock_change=True)
+
+ with clock.create_jump_callback(threshold, post_callback=post_callback) as jump_handler:
+ assert isinstance(jump_handler, JumpHandle)
+ clock._set_ros_time_is_active(True)
+ post_callback.assert_called_once()
+
+ post_callback.reset_mock()
+ clock._set_ros_time_is_active(False)
+ post_callback.assert_not_called()