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added disabled nodes in services and map
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Signed-off-by: Pedro Pena <peter.a.pena@gmail.com>
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@peterpena
peterpena committed Aug 5, 2020
1 parent 3c7685b commit 0060917
Showing 1 changed file with 41 additions and 43 deletions.
84 changes: 41 additions & 43 deletions rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -304,7 +304,7 @@ class TestAllocatorMemoryStrategy : public ::testing::Test
std::shared_ptr<rclcpp::Node> node_with_entity2,
std::function<rclcpp::AnyExecutable(WeakCallbackGroupsToNodesMap)> get_next_entity_func)
{
auto basic_node = std::make_shared<rclcpp::Node>("basic_node", "ns");
auto basic_node = create_node_with_disabled_callback_groups("basic_node");
WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
auto callback_groups = basic_node->get_node_base_interface()->get_callback_groups();
std::for_each(
Expand Down Expand Up @@ -757,16 +757,6 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_mutually_exclusive) {
TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
auto node = create_node_with_disabled_callback_groups("node");
auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
// Force subscription to go out of scope and cleanup after collecting entities.
{
rclcpp::SubscriptionOptions subscription_options;
Expand All @@ -784,6 +774,16 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
test_msgs::msg::Empty, decltype(subscription_callback)>(
"topic", qos, std::move(subscription_callback), subscription_options);

auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
}
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_subscriptions());
Expand All @@ -796,16 +796,6 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
auto node = create_node_with_disabled_callback_groups("node");
auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
// Force service to go out of scope and cleanup after collecting entities.
{
auto callback_group =
Expand All @@ -818,6 +808,16 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
auto service = node->create_service<test_msgs::srv::Empty>(
"service", std::move(service_callback), rmw_qos_profile_services_default, callback_group);

auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
}
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_services());
Expand Down Expand Up @@ -866,25 +866,23 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
TEST_F(TestAllocatorMemoryStrategy, get_next_timer_out_of_scope) {
auto node = create_node_with_disabled_callback_groups("node");
WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
// Force timer to go out of scope and cleanup after collecting entities.
{
auto callback_group =
node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);

auto timer = node->create_wall_timer(
std::chrono::seconds(10), []() {}, callback_group);

auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
}
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_timers());
Expand All @@ -897,21 +895,21 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer_out_of_scope) {
TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_out_of_scope) {
auto node = create_node_with_disabled_callback_groups("node");
WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
// Force waitable to go out of scope and cleanup after collecting entities.
{
auto callback_group =
node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
auto callback_groups = node->get_node_base_interface()->get_callback_groups();
std::for_each(
callback_groups.begin(), callback_groups.end(),
[&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
weak_groups_to_nodes.insert(
std::pair<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
weak_group_ptr,
node->get_node_base_interface()));
});
allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
auto waitable = std::make_shared<TestWaitable>();
node->get_node_waitables_interface()->add_waitable(waitable, callback_group);
Expand Down

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