Renamed aboutToShutdown signal in wrapper in accordance with Ros2Qml singleton.

Fixed test after change of how cleanup is done.

Author: StefanFabian

include/qml_ros2_plugin/ros2.hpp

@@ -229,6 +229,9 @@ class Ros2QmlSingletonWrapper : public QObject
   //! @copydoc Ros2Qml::init(const QStringList &, const QString &, Ros2InitOptions)
   Q_INVOKABLE void init( const QString &name, const QStringList &args, QObject *options = nullptr );
 
+  //! @copydoc Ros2Qml::shutdown
+  Q_INVOKABLE void shutdown();
+
   //! @copydoc Ros2Qml::ok
   Q_INVOKABLE bool ok() const;
 
@@ -391,7 +394,7 @@ class Ros2QmlSingletonWrapper : public QObject
   void initialized();
 
   //! @copydoc Ros2Qml::aboutToShutdown
-  void shutdown();
+  void aboutToShutdown();
 
 private:
   bool initLogging();

src/ros2.cpp

@@ -362,7 +362,7 @@ Ros2QmlSingletonWrapper::Ros2QmlSingletonWrapper()
   connect( &Ros2Qml::getInstance(), &Ros2Qml::initialized, this,
            &Ros2QmlSingletonWrapper::initialized );
   connect( &Ros2Qml::getInstance(), &Ros2Qml::aboutToShutdown, this,
-           &Ros2QmlSingletonWrapper::shutdown );
+           &Ros2QmlSingletonWrapper::aboutToShutdown );
   Ros2Qml::getInstance().registerDependant();
 }
 
@@ -410,6 +410,8 @@ void Ros2QmlSingletonWrapper::init( const QString &name, const QStringList &args
   Ros2Qml::getInstance().init( name, args, qobject_cast<Ros2InitOptions *>( options ) );
 }
 
+void Ros2QmlSingletonWrapper::shutdown() { Ros2Qml::getInstance().shutdown(); }
+
 bool Ros2QmlSingletonWrapper::ok() const { return Ros2Qml::getInstance().ok(); }
 
 Time Ros2QmlSingletonWrapper::now() const

test/ros_life_cycle.cpp

@@ -85,8 +85,10 @@ TEST( Ros2LifeCycle, testLifeCycle )
     EXPECT_TRUE( mock_ros.initialized );
     delete publisher_before_init;
     delete publisher_after_init;
+
+    ros_wrapper.shutdown();
   }
-  // Wrappers are destroyed, this should clear node etc.
+  // After shutdown everything should be uninitialized again
   EXPECT_FALSE( qml_ros2_plugin::Ros2Qml::getInstance().isInitialized() );
   EXPECT_FALSE( qml_ros2_plugin::TfTransformListener::getInstance().isInitialized() );
 }