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support local graph changes in Connext (#67)

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* pass node to client and service destroy funcs

* address a flaky test with connext, will ticket

* invert test_graph exclusion logic

* use zero initialization of tnat in test_graph

* change is_connext logic
This commit is contained in:
William Woodall 2016-10-28 18:30:52 -07:00 • committed by GitHub
parent 32bcd0d760
commit 74574a4ff5
4 changed files with 29 additions and 8 deletions
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2
rcl/src/rcl/client.c
View file

@ -103,7 +103,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (client->impl) {
rmw_ret_t ret =
rmw_destroy_client(client->impl->rmw_handle);
rmw_destroy_client(rcl_node_get_rmw_handle(node), client->impl->rmw_handle);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
result = RCL_RET_ERROR;

2
rcl/src/rcl/service.c
View file

@ -99,7 +99,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (service->impl) {
rmw_ret_t ret =
rmw_destroy_service(service->impl->rmw_handle);
rmw_destroy_service(rcl_node_get_rmw_handle(node), service->impl->rmw_handle);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
result = RCL_RET_ERROR;

11
rcl/test/CMakeLists.txt
View file

@ -60,8 +60,13 @@ function(test_target_function)
AMENT_DEPENDENCIES ${rmw_implementation}
)
# TODO(wjwwood): remove this when the graph API works properly for more than OpenSplice.
if(rmw_implementation STREQUAL "rmw_opensplice_cpp")
# TODO(wjwwood): remove this when the graph API works properly for FastRTPS
if(
rmw_implementation STREQUAL "rmw_connext_dynamic_cpp" OR
rmw_implementation STREQUAL "rmw_fastrtps_cpp"
)
message(STATUS "Skipping test_graph${target_suffix} test.")
else()
rcl_add_custom_gtest(test_graph${target_suffix}
SRCS rcl/test_graph.cpp
ENV ${extra_test_env}
@ -69,8 +74,6 @@ function(test_target_function)
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
)
else()
message(STATUS "Skipping test_graph${target_suffix} test.")
endif()
rcl_add_custom_gtest(test_rcl${target_suffix}

18
rcl/test/rcl/test_graph.cpp
View file

@ -44,6 +44,9 @@
# define CLASSNAME(NAME, SUFFIX) NAME
#endif
bool is_connext =
std::string(rmw_get_implementation_identifier()).find("rmw_connext") == 0;
class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
public:
@ -254,6 +257,7 @@ check_graph_state(
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_reset_error();
tnat = rcl_get_zero_initialized_topic_names_and_types();
ret = rcl_get_topic_names_and_types(node_ptr, &tnat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_reset_error();
@ -519,9 +523,23 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
if (ret == RCL_RET_TIMEOUT) {
if (!is_connext) {
// TODO(wjwwood):
// Connext has a race condition which can cause the graph guard
// condition to wake up due to the necessary topics going away,
// but afterwards rcl_service_server_is_available() still does
// not reflect that the service is "no longer available".
// The result is that some tests are flaky unless you not only
// check right after a graph change but again in the future where
// rcl_service_server_is_available() eventually reports the
// service is no longer there. This condition can be removed and
// we can always continue when we get RCL_RET_TIMEOUT once that
// is fixed.
continue;
}
} else {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
ret = rcl_service_server_is_available(this->node_ptr, &client, &is_available);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
if (is_available == expected_state) {