Fix callback group logic in executor #2476
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| // Copyright 2024 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| /** | ||
| * This test checks that when callback groups go out of scope, that their associated executable | ||
| * entities should not be returned as valid executables. | ||
| * | ||
| * The test makes use of a bit of executor internals, but is meant to prevent regressions of behavior. | ||
| * Ref: https://github.com/ros2/rclcpp/issues/2474 | ||
| */ | ||
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| #include <gtest/gtest.h> | ||
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| #include <chrono> | ||
| #include <rclcpp/callback_group.hpp> | ||
| #include <rclcpp/executor.hpp> | ||
| #include <rclcpp/node.hpp> | ||
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| class CustomExecutor: public rclcpp::Executor | ||
| { | ||
| public: | ||
| explicit CustomExecutor(const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions()) | ||
| : rclcpp::Executor(options) | ||
| { | ||
| } | ||
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| ~CustomExecutor() override = default; | ||
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| void spin() override {}; | ||
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| void collect() { | ||
| this->collect_entities(); | ||
| } | ||
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| void wait() { | ||
| this->wait_for_work(std::chrono::milliseconds(10)); | ||
| } | ||
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| size_t collected_timers() const { | ||
| return this->current_collection_.timers.size(); | ||
| } | ||
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| rclcpp::AnyExecutable next() { | ||
| rclcpp::AnyExecutable ret; | ||
| this->get_next_ready_executable(ret); | ||
| return ret; | ||
| } | ||
| }; | ||
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| TEST(TestCallbackGroup, ValidCbg) | ||
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| { | ||
| rclcpp::init(0, nullptr); | ||
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| // Create a timer associated with a callback group | ||
| auto node = std::make_shared<rclcpp::Node>("node"); | ||
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| // Add the callback group to the executor | ||
| auto executor = CustomExecutor(); | ||
| executor.add_node(node); | ||
| executor.spin_all(std::chrono::milliseconds(10)); | ||
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| auto cbg = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, true); | ||
| auto timer = node->create_wall_timer(std::chrono::milliseconds(1), [](){}, cbg); | ||
| executor.add_callback_group(cbg, node->get_node_base_interface()); | ||
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| executor.spin_all(std::chrono::milliseconds(10)); | ||
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| // Collect the entities | ||
| executor.collect(); | ||
| EXPECT_EQ(1u, executor.collected_timers()); | ||
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| executor.wait(); | ||
| auto next_executable = executor.next(); | ||
| EXPECT_EQ(timer, next_executable.timer); | ||
| EXPECT_EQ(cbg, next_executable.callback_group); | ||
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| EXPECT_EQ(nullptr, next_executable.client); | ||
| EXPECT_EQ(nullptr, next_executable.service); | ||
| EXPECT_EQ(nullptr, next_executable.subscription); | ||
| EXPECT_EQ(nullptr, next_executable.waitable); | ||
| EXPECT_EQ(nullptr, next_executable.data); | ||
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| rclcpp::shutdown(); | ||
| } | ||
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| TEST(TestCallbackGroup, InvalidCbg) | ||
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| { | ||
| rclcpp::init(0, nullptr); | ||
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| // Create a timer associated with a callback group | ||
| auto node = std::make_shared<rclcpp::Node>("node"); | ||
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| // Add the callback group to the executor | ||
| auto executor = CustomExecutor(); | ||
| executor.add_node(node); | ||
| executor.spin_all(std::chrono::milliseconds(10)); | ||
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Comment on lines
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Member
There was a problem hiding this comment. Just curious why is this needed?
Member
Author
There was a problem hiding this comment. This was to clear out all of the node startup transients. |
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| auto cbg = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); | ||
| auto timer = node->create_wall_timer(std::chrono::milliseconds(1), [](){}, cbg); | ||
| executor.add_callback_group(cbg, nullptr); | ||
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| executor.spin_all(std::chrono::milliseconds(10)); | ||
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| // Collect the entities | ||
| executor.collect(); | ||
| EXPECT_EQ(1u, executor.collected_timers()); | ||
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| executor.wait(); | ||
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| cbg.reset(); | ||
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| // Since the callback group has been reset, this should not be allowed to | ||
| // be a valid executable (timer and cbg should both be nullptr). | ||
| // In the regression, timer == next_executable.timer whil | ||
| // next_executable.callback_group == nullptr, which was incorrect. | ||
| auto next_executable = executor.next(); | ||
| EXPECT_EQ(nullptr, next_executable.timer); | ||
| EXPECT_EQ(nullptr, next_executable.callback_group); | ||
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| EXPECT_EQ(nullptr, next_executable.client); | ||
| EXPECT_EQ(nullptr, next_executable.service); | ||
| EXPECT_EQ(nullptr, next_executable.subscription); | ||
| EXPECT_EQ(nullptr, next_executable.waitable); | ||
| EXPECT_EQ(nullptr, next_executable.data); | ||
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| rclcpp::shutdown(); | ||
| } | ||
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