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fix: remove singleton anti-pattern #7

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merged 1 commit into from
Aug 16, 2023
Merged

fix: remove singleton anti-pattern #7

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1 change: 0 additions & 1 deletion src/ros_gazebo_gym/common/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,4 +3,3 @@
"""

from ros_gazebo_gym.common.euler_angles import EulerAngles
from ros_gazebo_gym.common.singleton import Singleton
41 changes: 0 additions & 41 deletions src/ros_gazebo_gym/common/singleton.py
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15 changes: 13 additions & 2 deletions src/ros_gazebo_gym/task_envs/panda/panda_reach.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,6 @@
import tf2_geometry_msgs
from geometry_msgs.msg import Pose, PoseStamped, Quaternion, Vector3
from gym import spaces, utils
from ros_gazebo_gym.common import Singleton
from ros_gazebo_gym.common.functions import (
flatten_list,
gripper_width_2_finger_joints_positions,
Expand Down Expand Up @@ -86,7 +85,7 @@
#################################################
# Panda reach environment class #################
#################################################
class PandaReachEnv(PandaEnv, utils.EzPickle, metaclass=Singleton):
class PandaReachEnv(PandaEnv, utils.EzPickle):
"""Class that provides all the methods used for the algorithm training.

Attributes:
Expand All @@ -95,6 +94,8 @@ class PandaReachEnv(PandaEnv, utils.EzPickle, metaclass=Singleton):
goal (:obj:`geometry_msgs.PoseStamped`): The current goal.
"""

_instance_count = 0 # Counts the number of instances that were created.

def __init__( # noqa: C901
self,
control_type="effort",
Expand Down Expand Up @@ -127,6 +128,16 @@ def __init__( # noqa: C901
easily extended to work with multiple waypoints by modifying the
:obj:`PandaReachEnv~._create_action_space` method.
"""
self.__class__._instance_count += 1
if self.__class__._instance_count > 1:
rospy.logwarn(
"You are trying to create multiple instances of the "
f"{self.__class__.__name__} class. Unfortunately, this is not yet "
"been implemented and will cause unexpected behaviour. As a result, "
"the script will be shut down. Feel free to open a pull request if "
"you want to implement this functionality."
)

utils.EzPickle.__init__(
**locals()
) # Makes sure the env is pickable when it wraps C++ code.
Expand Down
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