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fujitatomoyafujitatomoya
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revert call shutdown in LifecycleNode destructor (#2557)
* Revert "LifecycleNode shutdown on dtor only with valid context. (#2545)" This reverts commit d8d83a0. Signed-off-by: Tomoya Fujita <[email protected]> * Revert "call shutdown in LifecycleNode dtor to avoid leaving the device in unknown state (2nd) (#2528)" This reverts commit 3bc364a. Signed-off-by: Tomoya Fujita <[email protected]> --------- Signed-off-by: Tomoya Fujita <[email protected]>
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‎rclcpp_lifecycle/src/lifecycle_node.cpp‎

Lines changed: 0 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -152,37 +152,8 @@ LifecycleNode::LifecycleNode(
152152

153153
LifecycleNode::~LifecycleNode()
154154
{
155-
auto current_state = LifecycleNode::get_current_state().id();
156-
// shutdown if necessary to avoid leaving the device in any other primary state
157-
if (current_state < lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
158-
if (node_base_->get_context()->is_valid()) {
159-
auto ret = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
160-
auto finalized = LifecycleNode::shutdown(ret);
161-
if (finalized.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED ||
162-
ret != rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS)
163-
{
164-
RCLCPP_WARN(
165-
rclcpp::get_logger("rclcpp_lifecycle"),
166-
"Shutdown error in destruction of LifecycleNode: final state(%s)",
167-
finalized.label().c_str());
168-
}
169-
} else {
170-
// TODO(fujitatomoya): consider when context is gracefully shutdown before.
171-
RCLCPP_DEBUG(
172-
rclcpp::get_logger("rclcpp_lifecycle"),
173-
"Context invalid error in destruction of LifecycleNode: Node still in transition state(%u)",
174-
current_state);
175-
}
176-
} else if (current_state > lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
177-
RCLCPP_WARN(
178-
rclcpp::get_logger("rclcpp_lifecycle"),
179-
"Shutdown error in destruction of LifecycleNode: Node still in transition state(%u)",
180-
current_state);
181-
}
182-
183155
// release sub-interfaces in an order that allows them to consult with node_base during tear-down
184156
node_waitables_.reset();
185-
node_type_descriptions_.reset();
186157
node_time_source_.reset();
187158
node_parameters_.reset();
188159
node_clock_.reset();
@@ -191,7 +162,6 @@ LifecycleNode::~LifecycleNode()
191162
node_timers_.reset();
192163
node_logging_.reset();
193164
node_graph_.reset();
194-
node_base_.reset();
195165
}
196166

197167
const char *

‎rclcpp_lifecycle/test/test_lifecycle_node.cpp‎

Lines changed: 0 additions & 140 deletions
Original file line numberDiff line numberDiff line change
@@ -447,146 +447,6 @@ TEST_F(TestDefaultStateMachine, bad_mood) {
447447
EXPECT_EQ(1u, test_node->number_of_callbacks);
448448
}
449449

450-
451-
TEST_F(TestDefaultStateMachine, shutdown_from_each_primary_state) {
452-
auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
453-
auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
454-
455-
// PRIMARY_STATE_UNCONFIGURED to shutdown
456-
{
457-
auto ret = reset_key;
458-
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
459-
auto finalized = test_node->shutdown(ret);
460-
EXPECT_EQ(success, ret);
461-
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
462-
}
463-
464-
// PRIMARY_STATE_INACTIVE to shutdown
465-
{
466-
auto ret = reset_key;
467-
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
468-
auto configured = test_node->configure(ret);
469-
EXPECT_EQ(success, ret);
470-
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
471-
ret = reset_key;
472-
auto finalized = test_node->shutdown(ret);
473-
EXPECT_EQ(success, ret);
474-
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
475-
}
476-
477-
// PRIMARY_STATE_ACTIVE to shutdown
478-
{
479-
auto ret = reset_key;
480-
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
481-
auto configured = test_node->configure(ret);
482-
EXPECT_EQ(success, ret);
483-
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
484-
ret = reset_key;
485-
auto activated = test_node->activate(ret);
486-
EXPECT_EQ(success, ret);
487-
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
488-
ret = reset_key;
489-
auto finalized = test_node->shutdown(ret);
490-
EXPECT_EQ(success, ret);
491-
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
492-
}
493-
494-
// PRIMARY_STATE_FINALIZED to shutdown
495-
{
496-
auto ret = reset_key;
497-
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
498-
auto configured = test_node->configure(ret);
499-
EXPECT_EQ(success, ret);
500-
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
501-
ret = reset_key;
502-
auto activated = test_node->activate(ret);
503-
EXPECT_EQ(success, ret);
504-
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
505-
ret = reset_key;
506-
auto finalized = test_node->shutdown(ret);
507-
EXPECT_EQ(success, ret);
508-
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
509-
ret = reset_key;
510-
auto finalized_again = test_node->shutdown(ret);
511-
EXPECT_EQ(reset_key, ret);
512-
EXPECT_EQ(finalized_again.id(), State::PRIMARY_STATE_FINALIZED);
513-
}
514-
}
515-
516-
TEST_F(TestDefaultStateMachine, test_shutdown_on_dtor) {
517-
auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
518-
auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
519-
520-
bool shutdown_cb_called = false;
521-
auto on_shutdown_callback =
522-
[&shutdown_cb_called](const rclcpp_lifecycle::State &) ->
523-
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn {
524-
shutdown_cb_called = true;
525-
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
526-
};
527-
528-
// PRIMARY_STATE_UNCONFIGURED to shutdown via dtor
529-
shutdown_cb_called = false;
530-
{
531-
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
532-
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
533-
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
534-
EXPECT_FALSE(shutdown_cb_called);
535-
}
536-
EXPECT_TRUE(shutdown_cb_called);
537-
538-
// PRIMARY_STATE_INACTIVE to shutdown via dtor
539-
shutdown_cb_called = false;
540-
{
541-
auto ret = reset_key;
542-
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
543-
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
544-
auto configured = test_node->configure(ret);
545-
EXPECT_EQ(success, ret);
546-
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
547-
EXPECT_FALSE(shutdown_cb_called);
548-
}
549-
EXPECT_TRUE(shutdown_cb_called);
550-
551-
// PRIMARY_STATE_ACTIVE to shutdown via dtor
552-
shutdown_cb_called = false;
553-
{
554-
auto ret = reset_key;
555-
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
556-
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
557-
auto configured = test_node->configure(ret);
558-
EXPECT_EQ(success, ret);
559-
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
560-
ret = reset_key;
561-
auto activated = test_node->activate(ret);
562-
EXPECT_EQ(success, ret);
563-
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
564-
EXPECT_FALSE(shutdown_cb_called);
565-
}
566-
EXPECT_TRUE(shutdown_cb_called);
567-
568-
// PRIMARY_STATE_FINALIZED to shutdown via dtor
569-
shutdown_cb_called = false;
570-
{
571-
auto ret = reset_key;
572-
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
573-
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
574-
auto configured = test_node->configure(ret);
575-
EXPECT_EQ(success, ret);
576-
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
577-
ret = reset_key;
578-
auto activated = test_node->activate(ret);
579-
EXPECT_EQ(success, ret);
580-
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
581-
ret = reset_key;
582-
auto finalized = test_node->shutdown(ret);
583-
EXPECT_EQ(success, ret);
584-
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
585-
EXPECT_TRUE(shutdown_cb_called); // should be called already
586-
}
587-
EXPECT_TRUE(shutdown_cb_called);
588-
}
589-
590450
TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
591451
auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");
592452

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