clear handles before node destruction in test_memory_strategy. (#2969)

Signed-off-by: Tomoya Fujita <[email protected]>

Author: fujitatomoya

rclcpp/test/rclcpp/test_memory_strategy.cpp

@@ -129,6 +129,8 @@ TEST_F(TestMemoryStrategy, get_subscription_by_handle) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_subscription_by_handle(subscription_handle, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
@@ -181,6 +183,8 @@ TEST_F(TestMemoryStrategy, get_service_by_handle) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_service_by_handle(service_handle, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
@@ -228,6 +232,11 @@ TEST_F(TestMemoryStrategy, get_client_by_handle) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_client_by_handle(client_handle, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
+    // reset client handle before node destruction, otherwise it tries to access node
+    // via weak_ptr in its deleter
+    client_handle.reset();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
@@ -276,6 +285,8 @@ TEST_F(TestMemoryStrategy, get_timer_by_handle) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_timer_by_handle(timer_handle, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
@@ -375,6 +386,8 @@ TEST_F(TestMemoryStrategy, get_group_by_subscription) {
     EXPECT_EQ(
       callback_group,
       memory_strategy()->get_group_by_subscription(subscription, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   // NodeBase(SubscriptionBase->rcl_node_t->NodeBase) is still alive.
   EXPECT_EQ(
@@ -420,6 +433,8 @@ TEST_F(TestMemoryStrategy, get_group_by_service) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_group_by_service(service, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
@@ -459,6 +474,8 @@ TEST_F(TestMemoryStrategy, get_group_by_client) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_group_by_client(client, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
@@ -498,6 +515,8 @@ TEST_F(TestMemoryStrategy, get_group_by_timer) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_group_by_timer(timer, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
@@ -536,6 +555,8 @@ TEST_F(TestMemoryStrategy, get_group_by_waitable) {
     EXPECT_EQ(
       nullptr,
       memory_strategy()->get_group_by_waitable(waitable, weak_groups_to_nodes));
+    // Clear all handles to cleanup when node is destroyed
+    memory_strategy()->clear_handles();
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,