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Publish logs to Rosout (#350)

Browse source 
* Implementing the rosout logging feature.

* fixup for PR

* Fixup for PR.

* Fixing broken unit tests.

* Minor fixup for PR.

* Fixing bug in rosout teardown.

* Fixing unit test that broke because the rosout node wasn't getting counted.

* Fixing warnings on Windows.
This commit is contained in:
Nick Burek 2019-01-14 13:47:57 -08:00 • committed by Jacob Perron
parent ca97e5ca0b
commit c6788e4e54
9 changed files with 519 additions and 49 deletions
Download patch file Download diff file Expand all files Collapse all files

1
rcl/CMakeLists.txt
View file

@ -41,6 +41,7 @@ set(${PROJECT_NAME}_sources
src/rcl/init_options.c
src/rcl/lexer.c
src/rcl/lexer_lookahead.c
src/rcl/logging_rosout.c
src/rcl/logging.c
src/rcl/node.c
src/rcl/publisher.c

1
rcl/include/rcl/logging.h
View file

@ -41,6 +41,7 @@ extern "C"
* Lock-Free | Yes
*
* \param global_args The global arguments for the system
* \param allocator Used to allocate memory used by the logging system
* \return `RCL_RET_OK` if successful, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERR` if a general error occurs

170
rcl/include/rcl/logging_rosout.h Normal file
View file

@ -0,0 +1,170 @@
// Copyright 2018-2019 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.
#ifndef RCL__LOGGING_ROSOUT_H_
#define RCL__LOGGING_ROSOUT_H_
#include "rcl/allocator.h"
#include "rcl/error_handling.h"
#include "rcl/node.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
#ifdef __cplusplus
extern "C"
{
#endif
/// Initializes the rcl_logging_rosout features
/**
* Calling this will initialize the rcl_logging_rosout features. This function must be called
* before any other rcl_logging_rosout_* functions can be called.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] allocator The allocator used for metadata related to the rcl_logging_rosout features
* \return `RCL_RET_OK` if the rcl_logging_rosout features are successfully initialized, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_LOCAL
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_init(
const rcl_allocator_t * allocator);
/// Uninitializes the rcl_logging_rosout features
/**
* Calling this will set the rcl_logging_rosout features into the an unitialized state that is
* functionally the same as before rcl_logging_rosout_init was called.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \return `RCL_RET_OK` if the rcl_logging_rosout feature was successfully unitialized, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_LOCAL
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_fini();
/// Creates a rosout publisher for a node and registers it to be used by the logging system
/**
* Calling this for an rcl_node_t will create a new publisher on that node that will be
* used by the logging system to publish all log messages from that Node's logger.
*
* If a publisher already exists for this node then a new publisher will NOT be created.
*
* It is expected that after creating a rosout publisher with this function
* rcl_logging_destroy_rosout_publisher_for_node() will be called for the node to cleanup
* the publisher while the Node is still valid.
*
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] node a valid rcl_node_t that the publisher will be created on
* \return `RCL_RET_OK` if the publisher was created successfully, or
* \return `RCL_RET_ALREADY_INIT` if the publisher has already exists, or
* \return `RCL_RET_NODE_INVALID` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_LOCAL
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_init_publisher_for_node(
rcl_node_t * node);
/// Deregisters a rosout publisher for a node and cleans up allocated resources
/**
* Calling this for an rcl_node_t will destroy the rosout publisher on that node and remove it from
* the logging system so that no more Log messages are published to this function.
*
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] node a valid rcl_node_t that the publisher will be created on
* \return `RCL_RET_OK` if the publisher was created successfully, or
* \return `RCL_RET_NODE_INVALID` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_LOCAL
RCL_WARN_UNUSED
rcl_ret_t
rcl_logging_rosout_fini_publisher_for_node(
rcl_node_t * node);
/// The output handler outputs log messages to rosout topics.
/**
* When called with a logger name and log message this function will attempt to
* find a rosout publisher correlated with the logger name and publish a Log
* message out via that publisher. If there is no publisher directly correlated
* with the logger then nothing will be done.
*
* This function is meant to be registered with the logging functions for rcutils
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] location The pointer to the location struct or NULL
* \param[in] severity The severity level
* \param[in] name The name of the logger, must be null terminated c string
* \param[in] timestamp The timestamp for when the log message was made
* \param[in] log_str The string to be logged
*/
RCL_PUBLIC
void rcl_logging_rosout_output_handler(
const rcutils_log_location_t * location,
int severity,
const char * name,
rcutils_time_point_value_t timestamp,
const char * format,
va_list * args);
#ifdef __cplusplus
}
#endif
#endif // RCL__LOGGING_ROSOUT_H_

1
rcl/package.xml
View file

@ -21,6 +21,7 @@
<build_export_depend>rcutils</build_export_depend>
<build_export_depend>rosidl_generator_c</build_export_depend>
<exec_depend>rcl_interfaces</exec_depend>
<exec_depend>ament_cmake</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>

6
rcl/src/rcl/init.c
View file

@ -174,6 +174,12 @@ rcl_shutdown(rcl_context_t * context)
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}
rcl_ret_t rcl_ret = rcl_logging_fini();
RCUTILS_LOG_ERROR_EXPRESSION_NAMED(RCL_RET_OK != rcl_ret, ROS_PACKAGE_NAME,
"Failed to fini logging, rcl_ret_t: %i, rcl_error_str: %s", rcl_ret,
rcl_get_error_string().str);
rcl_reset_error();
return RCL_RET_OK;
}

63
rcl/src/rcl/logging.c
View file

@ -27,6 +27,7 @@ extern "C"
#include "rcl/error_handling.h"
#include "rcl/logging.h"
#include "rcl/logging_external_interface.h"
#include "rcl/logging_rosout.h"
#include "rcl/macros.h"
#include "rcutils/logging.h"
#include "rcutils/time.h"
@ -38,6 +39,9 @@ static rcutils_logging_output_handler_t
static uint8_t g_rcl_logging_num_out_handlers = 0;
static rcl_allocator_t g_logging_allocator;
static bool g_rcl_logging_stdout_enabled = false;
static bool g_rcl_logging_rosout_enabled = false;
static bool g_rcl_logging_ext_lib_enabled = false;
/**
* An output function that sends to multiple output appenders.
@ -59,16 +63,6 @@ rcl_logging_ext_lib_output_handler(
int severity, const char * name, rcutils_time_point_value_t timestamp,
const char * format, va_list * args);
/**
* An output function that sends to the rosout topic.
*/
static
void
rcl_logging_rosout_output_handler(
const rcutils_log_location_t * location,
int severity, const char * name, rcutils_time_point_value_t timestamp,
const char * format, va_list * args);
rcl_ret_t
rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t * allocator)
{
@ -78,24 +72,27 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
g_logging_allocator = *allocator;
int default_level = global_args->impl->log_level;
const char * config_file = global_args->impl->external_log_config_file;
bool enable_stdout = !global_args->impl->log_stdout_disabled;
bool enable_rosout = !global_args->impl->log_rosout_disabled;
bool enable_ext_lib = !global_args->impl->log_ext_lib_disabled;
g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled;
g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled;
g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled;
rcl_ret_t status = RCL_RET_OK;
g_rcl_logging_num_out_handlers = 0;
if (default_level >= 0) {
rcutils_logging_set_default_logger_level(default_level);
}
if (enable_stdout) {
if (g_rcl_logging_stdout_enabled) {
g_rcl_logging_out_handlers[g_rcl_logging_num_out_handlers++] =
rcutils_logging_console_output_handler;
}
if (enable_rosout) {
g_rcl_logging_out_handlers[g_rcl_logging_num_out_handlers++] =
rcl_logging_rosout_output_handler;
if (g_rcl_logging_rosout_enabled) {
status = rcl_logging_rosout_init(allocator);
if (RCL_RET_OK == status) {
g_rcl_logging_out_handlers[g_rcl_logging_num_out_handlers++] =
rcl_logging_rosout_output_handler;
}
}
if (enable_ext_lib) {
if (g_rcl_logging_ext_lib_enabled) {
status = rcl_logging_external_initialize(config_file);
if (RCL_RET_OK == status) {
rcl_logging_external_set_logger_level(NULL, default_level);
@ -107,6 +104,20 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
return status;
}
rcl_ret_t rcl_logging_fini()
{
rcl_ret_t status = RCL_RET_OK;
rcutils_logging_set_output_handler(rcutils_logging_console_output_handler);
if (g_rcl_logging_rosout_enabled) {
status = rcl_logging_rosout_fini();
}
if (RCL_RET_OK == status && g_rcl_logging_ext_lib_enabled) {
status = rcl_logging_external_shutdown();
}
return status;
}
static
void
@ -185,22 +196,6 @@ rcl_logging_ext_lib_output_handler(
}
}
static
void
rcl_logging_rosout_output_handler(
const rcutils_log_location_t * location,
int severity, const char * name, rcutils_time_point_value_t timestamp,
const char * format, va_list * args)
{
// TODO(nburek): Placeholder for rosout topic feature
RCL_UNUSED(location);
RCL_UNUSED(severity);
RCL_UNUSED(name);
RCL_UNUSED(timestamp);
RCL_UNUSED(format);
RCL_UNUSED(args);
}
#ifdef __cplusplus
}
#endif

280
rcl/src/rcl/logging_rosout.c Normal file
View file

@ -0,0 +1,280 @@
// Copyright 2018-2019 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.
#include "rcl/allocator.h"
#include "rcl/error_handling.h"
#include "rcl/node.h"
#include "rcl/publisher.h"
#include "rcl/time.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
#include "rcl_interfaces/msg/log.h"
#include "rcutils/allocator.h"
#include "rcutils/macros.h"
#include "rcutils/types/hash_map.h"
#include "rcutils/types/rcutils_ret.h"
#include "rosidl_generator_c/string_functions.h"
#ifdef __cplusplus
extern "C"
{
#endif
#define ROSOUT_TOPIC_NAME "rosout"
/* Return RCL_RET_OK from this macro because we won't check throughout rcl if rosout is
* initialized or not and in the case it's not we want things to continue working.
*/
#define RCL_LOGGING_ROSOUT_VERIFY_INITIALIZED \
if (!__is_initialized) { \
return RCL_RET_OK; \
}
#define RCL_RET_FROM_RCUTIL_RET(rcl_ret_var, rcutils_expr) \
{ \
rcutils_ret_t rcutils_ret = rcutils_expr; \
if (RCUTILS_RET_OK != rcutils_ret) { \
if (rcutils_error_is_set()) { \
RCL_SET_ERROR_MSG(rcutils_get_error_string().str); \
} else { \
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING("rcutils_ret_t code: %i", rcutils_ret); \
} \
} \
switch (rcutils_ret) { \
case RCUTILS_RET_OK: \
rcl_ret_var = RCL_RET_OK; \
break; \
case RCUTILS_RET_ERROR: \
rcl_ret_var = RCL_RET_ERROR; \
break; \
case RCUTILS_RET_BAD_ALLOC: \
rcl_ret_var = RCL_RET_BAD_ALLOC; \
break; \
case RCUTILS_RET_INVALID_ARGUMENT: \
rcl_ret_var = RCL_RET_INVALID_ARGUMENT; \
break; \
case RCUTILS_RET_NOT_INITIALIZED: \
rcl_ret_var = RCL_RET_NOT_INIT; \
break; \
default: \
rcl_ret_var = RCUTILS_RET_ERROR; \
} \
}
typedef struct rosout_map_entry_t
{
rcl_node_t * node;
rcl_publisher_t publisher;
} rosout_map_entry_t;
static rcutils_hash_map_t __logger_map;
static bool __is_initialized = false;
static rcl_allocator_t __rosout_allocator;
rcl_ret_t rcl_logging_rosout_init(
const rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
rcl_ret_t status = RCL_RET_OK;
if (__is_initialized) {
return RCL_RET_OK;
}
__logger_map = rcutils_get_zero_initialized_hash_map();
RCL_RET_FROM_RCUTIL_RET(status,
rcutils_hash_map_init(&__logger_map, 2, sizeof(const char *), sizeof(rosout_map_entry_t),
rcutils_hash_map_string_hash_func, rcutils_hash_map_string_cmp_func, allocator));
if (RCL_RET_OK == status) {
__rosout_allocator = *allocator;
__is_initialized = true;
}
return status;
}
rcl_ret_t rcl_logging_rosout_fini()
{
RCL_LOGGING_ROSOUT_VERIFY_INITIALIZED
rcl_ret_t status = RCL_RET_OK;
char * key = NULL;
rosout_map_entry_t entry;
// fini all the outstanding publishers
rcutils_ret_t hashmap_ret = rcutils_hash_map_get_next_key_and_data(&__logger_map, NULL, &key,
&entry);
while (RCL_RET_OK == status && RCUTILS_RET_OK == hashmap_ret) {
// Teardown publisher
status = rcl_publisher_fini(&entry.publisher, entry.node);
if (RCL_RET_OK == status) {
RCL_RET_FROM_RCUTIL_RET(status, rcutils_hash_map_unset(&__logger_map, &key));
}
if (RCL_RET_OK == status) {
hashmap_ret = rcutils_hash_map_get_next_key_and_data(&__logger_map, NULL, &key, &entry);
}
}
if (RCUTILS_RET_HASH_MAP_NO_MORE_ENTRIES != hashmap_ret) {
RCL_RET_FROM_RCUTIL_RET(status, hashmap_ret);
}
if (RCL_RET_OK == status) {
RCL_RET_FROM_RCUTIL_RET(status, rcutils_hash_map_fini(&__logger_map));
}
if (RCL_RET_OK == status) {
__is_initialized = false;
}
return status;
}
rcl_ret_t rcl_logging_rosout_init_publisher_for_node(
rcl_node_t * node)
{
RCL_LOGGING_ROSOUT_VERIFY_INITIALIZED
const char * logger_name = NULL;
rosout_map_entry_t new_entry;
rcl_ret_t status = RCL_RET_OK;
// Verify input and make sure it's not already initialized
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_NODE_INVALID);
logger_name = rcl_node_get_logger_name(node);
if (NULL == logger_name) {
RCL_SET_ERROR_MSG("Logger name was null.");
return RCL_RET_ERROR;
}
if (rcutils_hash_map_key_exists(&__logger_map, &logger_name)) {
RCL_SET_ERROR_MSG("Logger already initialized for node.");
return RCL_RET_ALREADY_INIT;
}
// Create a new Log message publisher on the node
const rosidl_message_type_support_t * type_support =
rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Log();
rcl_publisher_options_t options = rcl_publisher_get_default_options();
new_entry.publisher = rcl_get_zero_initialized_publisher();
status =
rcl_publisher_init(&new_entry.publisher, node, type_support, ROSOUT_TOPIC_NAME, &options);
// Add the new publisher to the map
if (RCL_RET_OK == status) {
new_entry.node = node;
RCL_RET_FROM_RCUTIL_RET(status, rcutils_hash_map_set(&__logger_map, &logger_name, &new_entry));
if (RCL_RET_OK != status) {
RCL_SET_ERROR_MSG("Failed to add publisher to map.");
// We failed to add to the map so destroy the publisher that we created
rcl_ret_t fini_status = rcl_publisher_fini(&new_entry.publisher, new_entry.node);
// ignore the return status in favor of the failure from set
RCL_UNUSED(fini_status);
}
}
return status;
}
rcl_ret_t rcl_logging_rosout_fini_publisher_for_node(
rcl_node_t * node)
{
RCL_LOGGING_ROSOUT_VERIFY_INITIALIZED
rosout_map_entry_t entry;
const char * logger_name = NULL;
rcl_ret_t status = RCL_RET_OK;
// Verify input and make sure it's initialized
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_NODE_INVALID);
logger_name = rcl_node_get_logger_name(node);
if (NULL == logger_name) {
return RCL_RET_ERROR;
}
if (!rcutils_hash_map_key_exists(&__logger_map, &logger_name)) {
return RCL_RET_OK;
}
// fini the publisher and remove the entry from the map
RCL_RET_FROM_RCUTIL_RET(status, rcutils_hash_map_get(&__logger_map, &logger_name, &entry));
if (RCL_RET_OK == status) {
status = rcl_publisher_fini(&entry.publisher, entry.node);
}
if (RCL_RET_OK == status) {
RCL_RET_FROM_RCUTIL_RET(status, rcutils_hash_map_unset(&__logger_map, &logger_name));
}
return status;
}
void rcl_logging_rosout_output_handler(
const rcutils_log_location_t * location,
int severity, const char * name, rcutils_time_point_value_t timestamp,
const char * format, va_list * args)
{
rosout_map_entry_t entry;
rcl_ret_t status = RCL_RET_OK;
if (!__is_initialized) {
return;
}
rcutils_ret_t rcutils_ret = rcutils_hash_map_get(&__logger_map, &name, &entry);
if (RCUTILS_RET_OK == rcutils_ret) {
char msg_buf[1024] = "";
rcutils_char_array_t msg_array = {
.buffer = msg_buf,
.owns_buffer = false,
.buffer_length = 0u,
.buffer_capacity = sizeof(msg_buf),
.allocator = __rosout_allocator
};
va_list args_clone;
va_copy(args_clone, *args);
RCL_RET_FROM_RCUTIL_RET(status, rcutils_char_array_vsprintf(&msg_array, format, args_clone));
va_end(args_clone);
if (RCL_RET_OK != status) {
RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to format log string: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
rcl_reset_error();
RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
} else {
rcl_interfaces__msg__Log * log_message = rcl_interfaces__msg__Log__create();
if (NULL != log_message) {
log_message->stamp.sec = (int32_t) RCL_NS_TO_S(timestamp);
log_message->stamp.nanosec = (timestamp % RCL_S_TO_NS(1));
log_message->level = severity;
log_message->line = (int32_t) location->line_number;
rosidl_generator_c__String__assign(&log_message->name, name);
rosidl_generator_c__String__assign(&log_message->msg, msg_array.buffer);
rosidl_generator_c__String__assign(&log_message->file, location->file_name);
rosidl_generator_c__String__assign(&log_message->function, location->function_name);
status = rcl_publish(&entry.publisher, log_message);
if (RCL_RET_OK != status) {
RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to publish log message to rosout: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
rcl_reset_error();
RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
}
rcl_interfaces__msg__Log__destroy(log_message);
}
}
RCL_RET_FROM_RCUTIL_RET(status, rcutils_char_array_fini(&msg_array));
if (RCL_RET_OK != status) {
RCUTILS_SAFE_FWRITE_TO_STDERR("failed to fini char_array: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
rcl_reset_error();
RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
}
}
}
#ifdef __cplusplus
}
#endif

18
rcl/src/rcl/node.c
View file

@ -26,6 +26,7 @@ extern "C"
#include "rcl/arguments.h"
#include "rcl/error_handling.h"
#include "rcl/logging_rosout.h"
#include "rcl/rcl.h"
#include "rcl/remap.h"
#include "rcutils/filesystem.h"
@ -421,12 +422,22 @@ rcl_node_init(
// error message already set
goto fail;
}
// The initialization for the rosout publisher requires the node to be in initialized to a point
// that it can create new topic publishers
ret = rcl_logging_rosout_init_publisher_for_node(node);
if (ret != RCL_RET_OK) {
// error message already set
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized");
ret = RCL_RET_OK;
goto cleanup;
fail:
if (node->impl) {
if (node->impl->logger_name) {
ret = rcl_logging_rosout_fini_publisher_for_node(node);
RCUTILS_LOG_ERROR_EXPRESSION_NAMED((ret != RCL_RET_OK && ret != RCL_RET_NOT_INIT),
ROS_PACKAGE_NAME, "Failed to fini publisher for node: %i", ret);
allocator->deallocate((char *)node->impl->logger_name, allocator->state);
}
if (node->impl->rmw_node_handle) {
@ -485,12 +496,17 @@ rcl_node_fini(rcl_node_t * node)
}
rcl_allocator_t allocator = node->impl->options.allocator;
rcl_ret_t result = RCL_RET_OK;
rcl_ret_t rcl_ret = rcl_logging_rosout_fini_publisher_for_node(node);
if (rcl_ret != RCL_RET_OK && rcl_ret != RCL_RET_NOT_INIT) {
RCL_SET_ERROR_MSG("Unable to fini publisher for node.");
result = RCL_RET_ERROR;
}
rmw_ret_t rmw_ret = rmw_destroy_node(node->impl->rmw_node_handle);
if (rmw_ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
result = RCL_RET_ERROR;
}
rcl_ret_t rcl_ret = rcl_guard_condition_fini(node->impl->graph_guard_condition);
rcl_ret = rcl_guard_condition_fini(node->impl->graph_guard_condition);
if (rcl_ret != RCL_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
result = RCL_RET_ERROR;

28
rcl/test/rcl/test_graph.cpp
View file

@ -316,7 +316,7 @@ check_graph_state(
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(wait_set_ptr, graph_guard_condition, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
" state wrong, waiting up to '%s' nanoseconds for graph changes... ",
std::to_string(time_to_sleep.count()).c_str());
@ -536,7 +536,7 @@ public:
rcl_wait_set_add_guard_condition(wait_set_ptr, rcl_node_get_graph_guard_condition(
node), NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
" state wrong, waiting up to '%s' nanoseconds for graph changes... ",
std::to_string(time_to_sleep.count()).c_str());
@ -575,19 +575,19 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_subscriptions)
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{0, 1, 0}, expected_node_state{0, 1, 0});
VerifySubsystemCount(expected_node_state{1, 1, 0}, expected_node_state{1, 1, 0});
// Destroy the node's subscriber
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{0, 0, 0}, expected_node_state{0, 1, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 1, 0});
// Destroy the remote node's subdscriber
ret = rcl_subscription_fini(&sub2, this->remote_node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{0, 0, 0}, expected_node_state{0, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 0, 0});
}
TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
@ -600,14 +600,14 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
ret = rcl_publisher_init(&pub, this->node_ptr, ts, this->topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{0, 0, 0});
VerifySubsystemCount(expected_node_state{2, 0, 0}, expected_node_state{1, 0, 0});
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Destroyed publisher");
// Destroy the publisher.
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{0, 0, 0}, expected_node_state{0, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 0, 0});
}
TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
@ -619,12 +619,12 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
auto ts1 = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, Primitives);
ret = rcl_service_init(&service, this->node_ptr, ts1, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{0, 0, 1}, expected_node_state{0, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 1}, expected_node_state{1, 0, 0});
// Destroy service.
ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{0, 0, 0}, expected_node_state{0, 0, 0});
VerifySubsystemCount(expected_node_state{1, 0, 0}, expected_node_state{1, 0, 0});
}
/*
@ -724,7 +724,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
std::thread topic_thread(
[this, &topic_changes_promise]() {
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// create the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
@ -733,7 +733,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// create the subscription
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
@ -742,12 +742,12 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// destroy the subscription
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(100));
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// destroy the publication
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -767,7 +767,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
"waiting up to '%s' nanoseconds for graph changes",
std::to_string(time_to_sleep.count()).c_str());