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rclcpp::shutdown should not be called before LifecycleNode dtor. (#2527…
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…) (#2539)

Signed-off-by: Tomoya Fujita <[email protected]>
(cherry picked from commit 22df1d5)

Co-authored-by: Tomoya Fujita <[email protected]>
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@mergify @fujitatomoya
mergify[bot] and fujitatomoya authored May 24, 2024
1 parent d599f9e commit 753a29b
Showing 1 changed file with 38 additions and 44 deletions.
82 changes: 38 additions & 44 deletions rclcpp_lifecycle/test/test_lifecycle_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,12 +55,6 @@ class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
explicit EmptyLifecycleNode(const std::string & node_name, const TimerType & timer_type)
: rclcpp_lifecycle::LifecycleNode(node_name)
{
rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
publisher_ =
std::make_shared<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>>(
get_node_base_interface().get(), std::string("topic"), rclcpp::QoS(10), options);
add_managed_entity(publisher_);

// For coverage this is being added here
switch (timer_type) {
case TimerType::WALL_TIMER:
Expand All @@ -77,14 +71,6 @@ class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
}
}
}

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher()
{
return publisher_;
}

private:
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher_;
};

class TestLifecyclePublisher : public ::testing::TestWithParam<TimerType>
Expand All @@ -93,95 +79,103 @@ class TestLifecyclePublisher : public ::testing::TestWithParam<TimerType>
void SetUp()
{
rclcpp::init(0, nullptr);
node_ = std::make_shared<EmptyLifecycleNode>("node", GetParam());
}

void TearDown()
{
rclcpp::shutdown();
}

protected:
std::shared_ptr<EmptyLifecycleNode> node_;
};

TEST_P(TestLifecyclePublisher, publish_managed_by_node) {
auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam());

rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher =
node->create_publisher<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), options);

// transition via LifecycleNode
auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
auto ret = reset_key;

EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, node_->get_current_state().id());
node_->trigger_transition(
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, node->get_current_state().id());
node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE), ret);
ASSERT_EQ(success, ret);
ret = reset_key;
node_->trigger_transition(
node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE), ret);
ASSERT_EQ(success, ret);
ret = reset_key;
EXPECT_TRUE(node_->publisher()->is_activated());
EXPECT_TRUE(publisher->is_activated());
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
EXPECT_NO_THROW(publisher->publish(*msg_ptr));
}
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
}
{
auto loaned_msg = node_->publisher()->borrow_loaned_message();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
auto loaned_msg = publisher->borrow_loaned_message();
EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
}
node_->trigger_transition(
node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE), ret);
ASSERT_EQ(success, ret);
ret = reset_key;
(void)ret; // Just to make clang happy
EXPECT_FALSE(node_->publisher()->is_activated());
EXPECT_FALSE(publisher->is_activated());
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
EXPECT_NO_THROW(publisher->publish(*msg_ptr));
}
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
}
{
auto loaned_msg = node_->publisher()->borrow_loaned_message();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
auto loaned_msg = publisher->borrow_loaned_message();
EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
}
}

TEST_P(TestLifecyclePublisher, publish) {
auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam());

rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher =
node->create_publisher<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), options);

// transition via LifecyclePublisher
node_->publisher()->on_deactivate();
EXPECT_FALSE(node_->publisher()->is_activated());
publisher->on_deactivate();
EXPECT_FALSE(publisher->is_activated());
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
EXPECT_NO_THROW(publisher->publish(*msg_ptr));
}
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
}
{
auto loaned_msg = node_->publisher()->borrow_loaned_message();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
auto loaned_msg = publisher->borrow_loaned_message();
EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
}
node_->publisher()->on_activate();
EXPECT_TRUE(node_->publisher()->is_activated());
publisher->on_activate();
EXPECT_TRUE(publisher->is_activated());
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
EXPECT_NO_THROW(publisher->publish(*msg_ptr));
}
{
auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
EXPECT_NO_THROW(publisher->publish(std::move(msg_ptr)));
}
{
auto loaned_msg = node_->publisher()->borrow_loaned_message();
EXPECT_NO_THROW(node_->publisher()->publish(std::move(loaned_msg)));
auto loaned_msg = publisher->borrow_loaned_message();
EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
}
}

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