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Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency #1303

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merged 6 commits into from
Oct 15, 2020
Merged

Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency #1303

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6d5d903
Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr…
Sep 11, 2020
5b19c63
Call fini to avoid memory leak
Sep 14, 2020
d671b93
Call fini for new test cases after rebasing branch
Oct 10, 2020
61023d1
Use print error message to instead of throwing exception at destructor
Oct 10, 2020
9f3552c
Remove unnecessary test cleanups.
clalancette Oct 13, 2020
cc17f60
use scope exit to call fini
Oct 15, 2020
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7 changes: 6 additions & 1 deletion rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,9 +64,14 @@ class StaticExecutorEntitiesCollector final
void
init(
rcl_wait_set_t * p_wait_set,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
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rcl_guard_condition_t * executor_guard_condition);

/// Finalize StaticExecutorEntitiesCollector to clear resources
RCLCPP_PUBLIC
void
fini();

RCLCPP_PUBLIC
void
execute() override;
Expand Down
1 change: 1 addition & 0 deletions rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
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Expand Up @@ -193,6 +193,7 @@ class StaticSingleThreadedExecutor : public rclcpp::Executor
std::chrono::nanoseconds timeout_left = timeout_ns;

entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

while (rclcpp::ok(this->context_)) {
// Do one set of work.
Expand Down
9 changes: 8 additions & 1 deletion rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp
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Expand Up @@ -61,7 +61,7 @@ StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector()
void
StaticExecutorEntitiesCollector::init(
rcl_wait_set_t * p_wait_set,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
rcl_guard_condition_t * executor_guard_condition)
{
// Empty initialize executable list
Expand All @@ -80,6 +80,13 @@ StaticExecutorEntitiesCollector::init(
execute();
}

void
StaticExecutorEntitiesCollector::fini()
{
memory_strategy_->clear_handles();
exec_list_.clear();
}

void
StaticExecutorEntitiesCollector::execute()
{
Expand Down
1 change: 1 addition & 0 deletions rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp
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Expand Up @@ -42,6 +42,7 @@ StaticSingleThreadedExecutor::spin()
// Set memory_strategy_ and exec_list_ based on weak_nodes_
// Prepare wait_set_ based on memory_strategy_
entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

while (rclcpp::ok(this->context_) && spinning.load()) {
// Refresh wait set and wait for work
Expand Down
8 changes: 8 additions & 0 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
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Expand Up @@ -410,6 +410,14 @@ class TestWaitable : public rclcpp::Waitable
}
}

~TestWaitable()
{
rcl_ret_t ret = rcl_guard_condition_fini(&gc_);
if (RCL_RET_OK != ret) {
fprintf(stderr, "failed to call rcl_guard_condition_fini\n");
}
}

bool
add_to_wait_set(rcl_wait_set_t * wait_set) override
{
Expand Down
17 changes: 10 additions & 7 deletions rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
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Expand Up @@ -170,6 +170,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_basic_node) {
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
EXPECT_EQ(
expected_number_of_entities->subscriptions,
entities_collector_->get_number_of_subscriptions());
Expand Down Expand Up @@ -217,6 +218,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {

// Expect weak_node pointers to be cleaned up and used
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
EXPECT_EQ(0u, entities_collector_->get_number_of_services());
Expand Down Expand Up @@ -278,6 +280,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

EXPECT_EQ(
1u + expected_number_of_entities->subscriptions,
Expand Down Expand Up @@ -356,6 +359,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_clear_
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

{
auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
Expand All @@ -365,7 +369,6 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_clear_
}

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
}

TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize_error) {
Expand All @@ -386,6 +389,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

{
auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_resize, RCL_RET_ERROR);
Expand All @@ -395,7 +399,6 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize
}

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
}

TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_not_initialized) {
Expand Down Expand Up @@ -423,6 +426,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_rcl_wait_failed) {
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

{
auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait, RCL_RET_ERROR);
Expand All @@ -432,7 +436,6 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_rcl_wait_failed) {
}

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
}

TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait_set_failed) {
Expand Down Expand Up @@ -472,6 +475,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

{
auto mock = mocking_utils::patch_and_return(
Expand All @@ -483,7 +487,6 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait
}

entities_collector_->remove_node(node->get_node_base_interface());
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
}

TEST_F(TestStaticExecutorEntitiesCollector, add_to_wait_set_nullptr) {
Expand All @@ -504,14 +507,14 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_to_wait_set_nullptr) {
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

RCLCPP_EXPECT_THROW_EQ(
entities_collector_->add_to_wait_set(nullptr),
std::runtime_error("Executor waitable: couldn't add guard condition to wait set"));
rcl_reset_error();

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
}

TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group) {
Expand Down Expand Up @@ -540,10 +543,10 @@ TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group)
cb_group.reset();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
}

TEST_F(TestStaticExecutorEntitiesCollector, remove_callback_group_after_node) {
Expand Down Expand Up @@ -610,10 +613,10 @@ TEST_F(
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();

entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());

cb_group->get_associated_with_executor_atomic().exchange(false);
entities_collector_->execute();

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
}