Simplified app exit procedure

emotions/main.py

@@ -9,8 +9,6 @@ from datetime import datetime
 import os
 from pathlib import Path
 from typing import Any, Literal
-
-import numpy as np
 from fastapi import HTTPException
 from pydantic import BaseModel, Field
 from ruamel.yaml import YAML
@@ -76,7 +74,6 @@ WHEEL_NODE_LAYOUT = {
     },
 }
 
-SHUTDOWN_MOVE_ID = "grateful1"
 MOVE_INITIAL_GOTO_DURATION = 0.7
 
 
@@ -638,34 +635,6 @@ class Emotions(ReachyMiniApp):
             "precision": updated_move.precision if updated_move else None,
         }
 
-    def _play_shutdown_sequence(self, reachy_mini: ReachyMini) -> None:
-        """Play a graceful shutdown move and return to the base pose."""
-        if not SHUTDOWN_MOVE_ID:
-            return
-        try:
-            move = self._recorded_emotions.get(SHUTDOWN_MOVE_ID)
-        except ValueError:
-            self.logger.warning("Shutdown move %s missing from recorded dataset.", SHUTDOWN_MOVE_ID)
-            return
-
-        with self._lock:
-            self._pending_move = None
-            self._current_move = SHUTDOWN_MOVE_ID
-
-        try:
-            reachy_mini.play_move(move, initial_goto_duration=MOVE_INITIAL_GOTO_DURATION)
-        except Exception:
-            self.logger.exception("Failed to play shutdown move %s.", SHUTDOWN_MOVE_ID)
-        finally:
-            with self._lock:
-                self._current_move = None
-                self._last_completed = time.time()
-
-        try:
-            reachy_mini.goto_target(np.eye(4), antennas=[0.0, 0.0], duration=1.2)
-        except Exception:
-            self.logger.exception("Unable to interpolate Reachy Mini back to the base pose after shutdown.")
-
     def _register_routes(self) -> None:
         @self.settings_app.get("/api/emotions")
         def list_emotions() -> dict[str, Any]:
@@ -744,28 +713,24 @@ class Emotions(ReachyMiniApp):
             return self._save_review(move_id, payload)
 
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event) -> None:
-        try:
-            while not stop_event.is_set():
-                move_to_play: str | None = None
+        while not stop_event.is_set():
+            move_to_play: str | None = None
+            with self._lock:
+                if self._pending_move:
+                    move_to_play = self._pending_move
+                    self._pending_move = None
+                    self._current_move = move_to_play
+
+            if move_to_play:
+                move = self._recorded_emotions.get(move_to_play)
+                reachy_mini.play_move(
+                    move, initial_goto_duration=MOVE_INITIAL_GOTO_DURATION
+                )
                 with self._lock:
-                    if self._pending_move:
-                        move_to_play = self._pending_move
-                        self._pending_move = None
-                        self._current_move = move_to_play
-
-                if move_to_play:
-                    move = self._recorded_emotions.get(move_to_play)
-                    reachy_mini.play_move(
-                        move, initial_goto_duration=MOVE_INITIAL_GOTO_DURATION
-                    )
-                    with self._lock:
-                        self._current_move = None
-                        self._last_completed = time.time()
-                else:
-                    stop_event.wait(0.01)
-        finally:
-            if stop_event.is_set():
-                self._play_shutdown_sequence(reachy_mini)
+                    self._current_move = None
+                    self._last_completed = time.time()
+            else:
+                stop_event.wait(0.01)
 
 
 if __name__ == "__main__":