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Embed CloudXRLauncher lifecycle inside TeleopSession

Abierto
  • ¿Algo no está bien?
#701 0 comentarios 0 reacciones 0 asignados Ver en GitHub

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Evaluación

Dificultad
4/5
Tiempo estimado
3-5 días
Aptitud para principiantes
52/100
Tipo de issue
Nueva funcionalidad
Claridad
Bastante claro
Estado de actividad
Tranquilo
Stack tecnológico
python
Área
ar-vr-xr, robotics

Línea de trabajo

Comienza por los puntos de entrada TeleopSession y CloudXRLauncher e inspecciona los gestores de contexto anidados del ejemplo mcap existente. Traza el orden de inicio, fallo de conexión y desmontaje, y añade cobertura que muestre la ownership interna, la exclusión voluntaria del launcher externo y una limpieza correcta tras un fallo; el ejemplo mcap existente debe seguir funcionando.

Escrito por el modelo de indexación a partir del texto del issue.

Descripción

Embed CloudXRLauncher lifecycle inside TeleopSession

Context

In the live teleop path, users currently have to set up the CloudXR runtime
launcher and the teleop session as two separate context managers:

​```python
with launcher_ctx as launcher:
if launcher is not None:
print(f"[live] CloudXR runtime started (WSS log: {launcher.wss_log_path})")
print("[live] waiting for headset connection… (Ctrl+C to stop)")

with TeleopSession(config) as session:
    ...

​```

This was raised in review on the mcap-example PR (@aristarkhovNV): the nested
launcher context is extra plumbing the caller shouldn't have to wire up by hand.
Deferring it out of that PR to keep its scope on the mcap example only.

Proposal

Have TeleopSession optionally own the CloudXRLauncher lifecycle so the
common case collapses to a single context manager:

​python with TeleopSession(config) as session: ... ​

TeleopSession.__enter__ would start the launcher (when configured for the
live/CloudXR path) and __exit__ would tear it down, surfacing wss_log_path
and any launcher state via the session object.

Motivation
  • Removes boilerplate and the nested with from every caller.
  • Single ownership point for startup/teardown ordering (launcher must come up
    before the session connects, and tear down after).
  • Centralizes the launcher is not None guard instead of leaking it to callers.
Open questions / considerations
  • Opt-out path: keep the ability to inject an externally-managed launcher
    (e.g. pass launcher=... or manage_launcher=False) for callers that need to
    share one launcher across sessions or control its lifecycle themselves.
  • Backward compatibility: does anything depend on the current two-context
    shape? If so, keep the standalone launcher context working.
  • Failure semantics: if the launcher starts but the session fails to
    connect, ensure the launcher is cleanly torn down (no orphaned runtime).
  • Logging: preserve the [live] CloudXR runtime started (WSS log: …) and
    "waiting for headset connection" messages, moved inside the session.
Acceptance criteria
  • TeleopSession can start/stop the CloudXR launcher internally when configured.
  • Single with TeleopSession(config) works for the live path.
  • An escape hatch exists for an externally-managed launcher.
  • Startup/teardown ordering and failure cleanup are covered by a test.
  • Existing mcap example still works.
Lenguaje dominante
Python
Estrellas
403
Forks
94
Merge medio
2 d 17 min
PR fusionados (30 d)
121

Preparar el entorno

Primeros pasos

  1. Lee el issue completo y luego la guía de contribución del proyecto.
  2. Comenta en el issue que vas a ocuparte — evita que dos personas hagan lo mismo.
  3. Haz un fork del repositorio y trabaja en una rama.
  4. Abre un pull request que haga referencia al número del issue.

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