Release ownership of entities after spinning cancelled

Signed-off-by: Barry Xu <[email protected]>

Author: Barry-Xu-2018

rclcpp/src/rclcpp/executor.cpp

@@ -885,6 +885,8 @@ Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanos
     // Wait for subscriptions or timers to work on
     wait_for_work(timeout);
     if (!spinning.load()) {
+      // Clear wait result to release ownership of entity
+      wait_result_.reset();
       return false;
     }
     // Try again

rclcpp/test/rclcpp/CMakeLists.txt

@@ -641,7 +641,7 @@ ament_add_gtest(test_executor test_executor.cpp
   TIMEOUT 120)
 ament_add_test_label(test_executor mimick)
 if(TARGET test_executor)
-  target_link_libraries(test_executor ${PROJECT_NAME} mimick)
+  target_link_libraries(test_executor ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
 endif()
 
 ament_add_gtest(test_graph_listener test_graph_listener.cpp)

rclcpp/test/rclcpp/test_executor.cpp

@@ -23,6 +23,7 @@
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/strategies/allocator_memory_strategy.hpp"
+#include "test_msgs/srv/empty.hpp"
 
 #include "../mocking_utils/patch.hpp"
 #include "../utils/rclcpp_gtest_macros.hpp"
@@ -508,3 +509,25 @@ TEST_F(TestExecutor, is_spinning) {
 
   ASSERT_TRUE(timer_called);
 }
+
+TEST_F(TestExecutor, release_ownership_entity_after_spinning_cancel) {
+  using namespace std::chrono_literals;
+
+  // Create an Executor
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  auto future = std::async(std::launch::async, [&executor] {executor.spin();});
+
+  auto node = std::make_shared<rclcpp::Node>("test_node");
+  auto callback = [](
+    const test_msgs::srv::Empty::Request::SharedPtr, test_msgs::srv::Empty::Response::SharedPtr) {
+    };
+  auto server = node->create_service<test_msgs::srv::Empty>("test_service", callback);
+  executor.add_node(node);
+  std::this_thread::sleep_for(50ms);
+  executor.cancel();
+  std::future_status future_status = future.wait_for(1s);
+  EXPECT_EQ(future_status, std::future_status::ready);
+
+  EXPECT_EQ(server.use_count(), 1);
+}