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Simplify and fix allocator memory strategy unit test for connext (#1252)

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* Fix allocator memory strategy for connext

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-08-04 14:57:54 -07:00
parent 61357c49f7
commit 32ef520434
1 changed files with 118 additions and 171 deletions
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261
rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
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@ -70,14 +70,7 @@ class TestAllocatorMemoryStrategy : public ::testing::Test
{
public:
TestAllocatorMemoryStrategy()
: allocator_memory_strategy_(nullptr),
num_ready_subscriptions_of_basic_node_(0),
num_ready_services_of_basic_node_(0),
num_ready_events_of_basic_node_(0),
num_ready_clients_of_basic_node_(0),
num_guard_conditions_of_basic_node_(0),
num_ready_timers_of_basic_node_(0),
num_waitables_of_basic_node_(0) {}
: allocator_memory_strategy_(nullptr) {}
void SetUp() override
{
@ -86,21 +79,6 @@ public:
// Even though this is just using a basic allocator, the custom allocator constructor was
// not covered in general testing.
allocator_memory_strategy_ = std::make_shared<AllocatorMemoryStrategy<>>(allocator_);
auto basic_node = std::make_shared<rclcpp::Node>("basic_node", "ns");
auto dummy_memory_strategy = std::make_shared<AllocatorMemoryStrategy<>>();
WeakNodeList nodes;
nodes.push_back(basic_node->get_node_base_interface());
dummy_memory_strategy->collect_entities(nodes);
num_ready_subscriptions_of_basic_node_ =
dummy_memory_strategy->number_of_ready_subscriptions();
num_ready_services_of_basic_node_ = dummy_memory_strategy->number_of_ready_services();
num_ready_events_of_basic_node_ = dummy_memory_strategy->number_of_ready_events();
num_ready_clients_of_basic_node_ = dummy_memory_strategy->number_of_ready_clients();
num_guard_conditions_of_basic_node_ = dummy_memory_strategy->number_of_guard_conditions();
num_ready_timers_of_basic_node_ = dummy_memory_strategy->number_of_ready_timers();
num_waitables_of_basic_node_ = dummy_memory_strategy->number_of_waitables();
}
void TearDown() override
@ -119,23 +97,33 @@ protected:
// interfaces remain alive and valid
//
std::shared_ptr<rclcpp::Node> create_node_with_subscription(
const std::string & name, bool with_exclusive_callback_group)
std::shared_ptr<rclcpp::Node> create_node_with_disabled_callback_groups(const std::string & name)
{
auto node = std::make_shared<rclcpp::Node>(name, "ns");
for (auto & group_weak_ptr : node->get_callback_groups()) {
auto group = group_weak_ptr.lock();
if (group) {
group->can_be_taken_from() = false;
}
}
return node;
}
std::shared_ptr<rclcpp::Node> create_node_with_subscription(const std::string & name)
{
auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
const rclcpp::QoS qos(10);
auto node_with_subscription = std::make_shared<rclcpp::Node>(name, "ns");
auto node_with_subscription = create_node_with_disabled_callback_groups(name);
rclcpp::SubscriptionOptions subscription_options;
if (with_exclusive_callback_group) {
auto callback_group =
node_with_subscription->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
subscription_options.callback_group = callback_group;
callback_groups_.push_back(callback_group);
}
auto subscription = node_with_subscription->create_subscription<
test_msgs::msg::Empty, decltype(subscription_callback)>(
@ -145,23 +133,18 @@ protected:
return node_with_subscription;
}
std::shared_ptr<rclcpp::Node> create_node_with_service(
const std::string & name, bool with_exclusive_callback_group = false)
std::shared_ptr<rclcpp::Node> create_node_with_service(const std::string & name)
{
auto service_callback =
[](const test_msgs::srv::Empty::Request::SharedPtr,
test_msgs::srv::Empty::Response::SharedPtr) {};
auto node_with_service = std::make_shared<rclcpp::Node>(name, "ns");
auto node_with_service = create_node_with_disabled_callback_groups(name);
rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
if (with_exclusive_callback_group) {
callback_group =
auto callback_group =
node_with_service->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
callback_groups_.push_back(callback_group);
}
services_.push_back(
node_with_service->create_service<test_msgs::srv::Empty>(
@ -169,18 +152,14 @@ protected:
return node_with_service;
}
std::shared_ptr<rclcpp::Node> create_node_with_client(
const std::string & name, bool with_exclusive_callback_group = false)
std::shared_ptr<rclcpp::Node> create_node_with_client(const std::string & name)
{
auto node_with_client = std::make_shared<rclcpp::Node>(name, "ns");
rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
if (with_exclusive_callback_group) {
callback_group =
auto node_with_client = create_node_with_disabled_callback_groups(name);
auto callback_group =
node_with_client->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
callback_groups_.push_back(callback_group);
}
clients_.push_back(
node_with_client->create_client<test_msgs::srv::Empty>(
@ -188,19 +167,15 @@ protected:
return node_with_client;
}
std::shared_ptr<rclcpp::Node> create_node_with_timer(
const std::string & name, bool with_exclusive_callback_group = false)
std::shared_ptr<rclcpp::Node> create_node_with_timer(const std::string & name)
{
auto timer_callback = []() {};
auto node_with_timer = std::make_shared<rclcpp::Node>(name, "ns");
auto node_with_timer = create_node_with_disabled_callback_groups(name);
rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
if (with_exclusive_callback_group) {
callback_group =
auto callback_group =
node_with_timer->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
callback_groups_.push_back(callback_group);
}
timers_.push_back(
node_with_timer->create_wall_timer(
@ -208,55 +183,6 @@ protected:
return node_with_timer;
}
size_t number_of_ready_subscriptions_in_addition_to_basic_node() const
{
return
allocator_memory_strategy_->number_of_ready_subscriptions() -
num_ready_subscriptions_of_basic_node_;
}
size_t number_of_ready_services_in_addition_to_basic_node() const
{
return
allocator_memory_strategy_->number_of_ready_services() -
num_ready_services_of_basic_node_;
}
size_t number_of_ready_events_in_addition_to_basic_node() const
{
return
allocator_memory_strategy_->number_of_ready_events() -
num_ready_events_of_basic_node_;
}
size_t number_of_ready_clients_in_addition_to_basic_node() const
{
return
allocator_memory_strategy_->number_of_ready_clients() -
num_ready_clients_of_basic_node_;
}
size_t number_of_guard_conditions_in_addition_to_basic_node() const
{
return
allocator_memory_strategy_->number_of_guard_conditions() -
num_guard_conditions_of_basic_node_;
}
size_t number_of_ready_timers_in_addition_to_basic_node() const
{
return
allocator_memory_strategy_->number_of_ready_timers() -
num_ready_timers_of_basic_node_;
}
size_t number_of_waitables_in_addition_to_basic_node() const
{
return
allocator_memory_strategy_->number_of_waitables() -
num_waitables_of_basic_node_;
}
::testing::AssertionResult TestNumberOfEntitiesAfterCollection(
std::shared_ptr<rclcpp::Node> node,
const RclWaitSetSizes & expected)
@ -266,14 +192,14 @@ protected:
allocator_memory_strategy()->collect_entities(nodes);
EXPECT_EQ(
expected.size_of_subscriptions, number_of_ready_subscriptions_in_addition_to_basic_node());
expected.size_of_subscriptions, allocator_memory_strategy()->number_of_ready_subscriptions());
EXPECT_EQ(
expected.size_of_guard_conditions, number_of_guard_conditions_in_addition_to_basic_node());
EXPECT_EQ(expected.size_of_timers, number_of_ready_timers_in_addition_to_basic_node());
EXPECT_EQ(expected.size_of_clients, number_of_ready_clients_in_addition_to_basic_node());
EXPECT_EQ(expected.size_of_services, number_of_ready_services_in_addition_to_basic_node());
EXPECT_EQ(expected.size_of_events, number_of_ready_events_in_addition_to_basic_node());
EXPECT_EQ(expected.size_of_waitables, number_of_waitables_in_addition_to_basic_node());
expected.size_of_guard_conditions, allocator_memory_strategy()->number_of_guard_conditions());
EXPECT_EQ(expected.size_of_timers, allocator_memory_strategy()->number_of_ready_timers());
EXPECT_EQ(expected.size_of_clients, allocator_memory_strategy()->number_of_ready_clients());
EXPECT_EQ(expected.size_of_services, allocator_memory_strategy()->number_of_ready_services());
EXPECT_EQ(expected.size_of_events, allocator_memory_strategy()->number_of_ready_events());
EXPECT_EQ(expected.size_of_waitables, allocator_memory_strategy()->number_of_waitables());
if (::testing::Test::HasFailure()) {
return ::testing::AssertionFailure() <<
"Expected number of entities did not match actual counts";
@ -378,7 +304,7 @@ protected:
return ::testing::AssertionFailure() <<
"A node was retrieved with the specified get_next_*() function despite"
" none of the nodes that were passed to it were added to the"
" allocator_memory_strategy";
" allocator_memory_strategy. Retrieved node: " << failed_result.node_base->get_name();
}
return ::testing::AssertionSuccess();
}
@ -421,14 +347,6 @@ private:
std::shared_ptr<std::allocator<void>> allocator_;
std::shared_ptr<AllocatorMemoryStrategy<>> allocator_memory_strategy_;
size_t num_ready_subscriptions_of_basic_node_;
size_t num_ready_services_of_basic_node_;
size_t num_ready_events_of_basic_node_;
size_t num_ready_clients_of_basic_node_;
size_t num_guard_conditions_of_basic_node_;
size_t num_ready_timers_of_basic_node_;
size_t num_waitables_of_basic_node_;
// These are generally kept as weak pointers in the rclcpp::Node interfaces, so they need to be
// owned by this class.
std::vector<rclcpp::SubscriptionBase::SharedPtr> subscriptions_;
@ -440,16 +358,16 @@ private:
TEST_F(TestAllocatorMemoryStrategy, construct_destruct) {
WeakNodeList nodes;
auto basic_node = std::make_shared<rclcpp::Node>("node", "ns");
auto basic_node = create_node_with_disabled_callback_groups("basic_node");
nodes.push_back(basic_node->get_node_base_interface());
allocator_memory_strategy()->collect_entities(nodes);
EXPECT_EQ(0u, number_of_ready_subscriptions_in_addition_to_basic_node());
EXPECT_EQ(0u, number_of_ready_services_in_addition_to_basic_node());
EXPECT_EQ(0u, number_of_ready_events_in_addition_to_basic_node());
EXPECT_EQ(0u, number_of_ready_clients_in_addition_to_basic_node());
EXPECT_EQ(0u, number_of_guard_conditions_in_addition_to_basic_node());
EXPECT_EQ(0u, number_of_ready_timers_in_addition_to_basic_node());
EXPECT_EQ(0u, number_of_waitables_in_addition_to_basic_node());
EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_subscriptions());
EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_services());
EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_events());
EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_clients());
EXPECT_EQ(0u, allocator_memory_strategy()->number_of_guard_conditions());
EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_timers());
EXPECT_EQ(0u, allocator_memory_strategy()->number_of_waitables());
}
TEST_F(TestAllocatorMemoryStrategy, add_remove_guard_conditions) {
@ -495,7 +413,12 @@ TEST_F(TestAllocatorMemoryStrategy, add_remove_waitables) {
TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_subscription) {
RclWaitSetSizes expected_sizes = {};
expected_sizes.size_of_subscriptions = 1;
auto node_with_subscription = create_node_with_subscription("subscription_node", false);
if (std::string("rmw_connext_cpp") == rmw_get_implementation_identifier()) {
// For connext, a subscription will also add an event and waitable
expected_sizes.size_of_events += 1;
expected_sizes.size_of_waitables += 1;
}
auto node_with_subscription = create_node_with_subscription("subscription_node");
EXPECT_TRUE(TestNumberOfEntitiesAfterCollection(node_with_subscription, expected_sizes));
}
@ -521,7 +444,7 @@ TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_timer) {
}
TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_bad_arguments) {
auto node = create_node_with_subscription("subscription_node", false);
auto node = create_node_with_subscription("subscription_node");
WeakNodeList nodes;
nodes.push_back(node->get_node_base_interface());
allocator_memory_strategy()->collect_entities(nodes);
@ -531,7 +454,7 @@ TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_bad_arguments) {
}
TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_subscription) {
auto node_with_subscription = create_node_with_subscription("subscription_node", false);
auto node_with_subscription = create_node_with_subscription("subscription_node");
RclWaitSetSizes insufficient_capacities = SufficientWaitSetCapacities();
insufficient_capacities.size_of_subscriptions = 0;
EXPECT_TRUE(TestAddHandlesToWaitSet(node_with_subscription, insufficient_capacities));
@ -552,7 +475,7 @@ TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_client) {
}
TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_guard_condition) {
auto node = std::make_shared<rclcpp::Node>("node", "ns");
auto node = create_node_with_disabled_callback_groups("node");
rcl_guard_condition_t guard_condition = rcl_get_zero_initialized_guard_condition();
auto context = node->get_node_base_interface()->get_context();
rcl_context_t * rcl_context = context->get_rcl_context().get();
@ -581,6 +504,8 @@ TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_timer) {
}
TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_waitable) {
rcl_reset_error();
rclcpp::Waitable::SharedPtr waitable = std::make_shared<TestWaitable>();
EXPECT_NO_THROW(allocator_memory_strategy()->add_waitable_handle(waitable));
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_waitables());
@ -596,8 +521,8 @@ TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_waitable) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_subscription) {
auto node1 = create_node_with_subscription("node1", false);
auto node2 = create_node_with_subscription("node2", false);
auto node1 = create_node_with_subscription("node1");
auto node2 = create_node_with_subscription("node2");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -609,8 +534,8 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_service) {
auto node1 = create_node_with_service("node1", false);
auto node2 = create_node_with_service("node2", false);
auto node1 = create_node_with_service("node1");
auto node2 = create_node_with_service("node2");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -622,8 +547,8 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_client) {
auto node1 = create_node_with_client("node1", false);
auto node2 = create_node_with_client("node2", false);
auto node1 = create_node_with_client("node1");
auto node2 = create_node_with_client("node2");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -635,8 +560,8 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_timer) {
auto node1 = create_node_with_timer("node1", false);
auto node2 = create_node_with_timer("node2", false);
auto node1 = create_node_with_timer("node1");
auto node2 = create_node_with_timer("node2");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -650,9 +575,10 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer) {
TEST_F(TestAllocatorMemoryStrategy, get_next_waitable) {
auto node1 = std::make_shared<rclcpp::Node>("waitable_node", "ns");
auto node2 = std::make_shared<rclcpp::Node>("waitable_node2", "ns");
rclcpp::Waitable::SharedPtr waitable = std::make_shared<TestWaitable>();
node1->get_node_waitables_interface()->add_waitable(waitable, nullptr);
node2->get_node_waitables_interface()->add_waitable(waitable, nullptr);
rclcpp::Waitable::SharedPtr waitable1 = std::make_shared<TestWaitable>();
rclcpp::Waitable::SharedPtr waitable2 = std::make_shared<TestWaitable>();
node1->get_node_waitables_interface()->add_waitable(waitable1, nullptr);
node2->get_node_waitables_interface()->add_waitable(waitable2, nullptr);
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -664,7 +590,7 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_mutually_exclusive) {
auto node = create_node_with_subscription("node", true);
auto node = create_node_with_subscription("node");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -676,7 +602,7 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_mutually_exclusive) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_service_mutually_exclusive) {
auto node = create_node_with_service("node", true);
auto node = create_node_with_service("node");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -688,7 +614,7 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_mutually_exclusive) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_client_mutually_exclusive) {
auto node = create_node_with_client("node", true);
auto node = create_node_with_client("node");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -700,7 +626,7 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client_mutually_exclusive) {
}
TEST_F(TestAllocatorMemoryStrategy, get_next_timer_mutually_exclusive) {
auto node = create_node_with_timer("node", true);
auto node = create_node_with_timer("node");
auto get_next_entity = [this](const WeakNodeList & nodes) {
rclcpp::AnyExecutable result;
@ -733,50 +659,62 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_mutually_exclusive) {
TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
WeakNodeList nodes;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
auto node = create_node_with_disabled_callback_groups("node");
nodes.push_back(node->get_node_base_interface());
// Force subscription to go out of scope and cleanup after collecting entities.
{
rclcpp::SubscriptionOptions subscription_options;
auto callback_group =
node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
subscription_options.callback_group = callback_group;
auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
const rclcpp::QoS qos(10);
auto subscription = node->create_subscription<
test_msgs::msg::Empty, decltype(subscription_callback)>(
"topic", qos, std::move(subscription_callback));
"topic", qos, std::move(subscription_callback), subscription_options);
allocator_memory_strategy()->collect_entities(nodes);
}
EXPECT_EQ(1u, number_of_ready_subscriptions_in_addition_to_basic_node());
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_subscriptions());
rclcpp::AnyExecutable result;
allocator_memory_strategy()->get_next_subscription(result, nodes);
EXPECT_EQ(node->get_node_base_interface(), result.node_base);
EXPECT_EQ(nullptr, result.node_base);
}
TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
WeakNodeList nodes;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
auto node = create_node_with_disabled_callback_groups("node");
nodes.push_back(node->get_node_base_interface());
// Force service to go out of scope and cleanup after collecting entities.
{
auto callback_group =
node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
auto service_callback =
[](const test_msgs::srv::Empty::Request::SharedPtr,
test_msgs::srv::Empty::Response::SharedPtr) {};
auto service = node->create_service<test_msgs::srv::Empty>(
"service", std::move(service_callback), rmw_qos_profile_services_default, nullptr);
"service", std::move(service_callback), rmw_qos_profile_services_default, callback_group);
allocator_memory_strategy()->collect_entities(nodes);
}
EXPECT_EQ(1u, number_of_ready_services_in_addition_to_basic_node());
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_services());
rclcpp::AnyExecutable result;
allocator_memory_strategy()->get_next_service(result, nodes);
EXPECT_EQ(node->get_node_base_interface(), result.node_base);
EXPECT_EQ(nullptr, result.node_base);
}
TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
WeakNodeList nodes;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
auto node = create_node_with_disabled_callback_groups("node");
nodes.push_back(node->get_node_base_interface());
// Force client to go out of scope and cleanup after collecting entities.
{
@ -788,7 +726,7 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
allocator_memory_strategy()->collect_entities(nodes);
}
EXPECT_EQ(1u, number_of_ready_clients_in_addition_to_basic_node());
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_clients());
rclcpp::AnyExecutable result;
allocator_memory_strategy()->get_next_client(result, nodes);
@ -797,17 +735,21 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
TEST_F(TestAllocatorMemoryStrategy, get_next_timer_out_of_scope) {
WeakNodeList nodes;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
auto node = create_node_with_disabled_callback_groups("node");
nodes.push_back(node->get_node_base_interface());
// Force timer to go out of scope and cleanup after collecting entities.
{
auto callback_group =
node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
auto timer = node->create_wall_timer(
std::chrono::seconds(10), []() {});
std::chrono::seconds(10), []() {}, callback_group);
allocator_memory_strategy()->collect_entities(nodes);
}
EXPECT_EQ(1u, number_of_ready_timers_in_addition_to_basic_node());
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_timers());
rclcpp::AnyExecutable result;
allocator_memory_strategy()->get_next_timer(result, nodes);
@ -816,16 +758,21 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer_out_of_scope) {
TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_out_of_scope) {
WeakNodeList nodes;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
auto node = create_node_with_disabled_callback_groups("node");
nodes.push_back(node->get_node_base_interface());
// Force waitable to go out of scope and cleanup after collecting entities.
{
auto callback_group =
node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
allocator_memory_strategy()->collect_entities(nodes);
auto waitable = std::make_shared<TestWaitable>();
node->get_node_waitables_interface()->add_waitable(waitable, callback_group);
allocator_memory_strategy()->add_waitable_handle(waitable);
}
EXPECT_EQ(1u, number_of_waitables_in_addition_to_basic_node());
// Since all callback groups have been locked, except the one we added, this should only be 1
EXPECT_EQ(1u, allocator_memory_strategy()->number_of_waitables());
rclcpp::AnyExecutable result;
allocator_memory_strategy()->get_next_waitable(result, nodes);