niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency (#1303)

Browse source 
* Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
Chen Lihui 2020-10-15 20:05:01 +08:00 • committed by brawner
parent 504e68bdab
commit 77aae4019e
6 changed files with 25 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

5
rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp
View file

@ -62,6 +62,11 @@ public:
rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy, rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
rcl_guard_condition_t * executor_guard_condition); rcl_guard_condition_t * executor_guard_condition);
/// Finalize StaticExecutorEntitiesCollector to clear resources
RCLCPP_PUBLIC
void
fini();
RCLCPP_PUBLIC RCLCPP_PUBLIC
void void
execute() override; execute() override;

1
rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
View file

@ -163,6 +163,7 @@ public:
std::chrono::nanoseconds timeout_left = timeout_ns; std::chrono::nanoseconds timeout_left = timeout_ns;
entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_); entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
while (rclcpp::ok(this->context_)) { while (rclcpp::ok(this->context_)) {
// Do one set of work. // Do one set of work.

7
rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp
View file

@ -62,6 +62,13 @@ StaticExecutorEntitiesCollector::init(
execute(); execute();
} }
void
StaticExecutorEntitiesCollector::fini()
{
memory_strategy_->clear_handles();
exec_list_.clear();
}
void void
StaticExecutorEntitiesCollector::execute() StaticExecutorEntitiesCollector::execute()
{ {

1
rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp
View file

@ -41,6 +41,7 @@ StaticSingleThreadedExecutor::spin()
// Set memory_strategy_ and exec_list_ based on weak_nodes_ // Set memory_strategy_ and exec_list_ based on weak_nodes_
// Prepare wait_set_ based on memory_strategy_ // Prepare wait_set_ based on memory_strategy_
entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_); entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
while (rclcpp::ok(this->context_) && spinning.load()) { while (rclcpp::ok(this->context_) && spinning.load()) {
// Refresh wait set and wait for work // Refresh wait set and wait for work

8
rclcpp/test/rclcpp/executors/test_executors.cpp
View file

@ -259,6 +259,14 @@ public:
} }
} }
~TestWaitable()
{
rcl_ret_t ret = rcl_guard_condition_fini(&gc_);
if (RCL_RET_OK != ret) {
fprintf(stderr, "failed to call rcl_guard_condition_fini\n");
}
}
bool bool
add_to_wait_set(rcl_wait_set_t * wait_set) override add_to_wait_set(rcl_wait_set_t * wait_set) override
{ {

3
rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
View file

@ -159,6 +159,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_basic_node) {
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition(); rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition); entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
EXPECT_EQ( EXPECT_EQ(
expected_number_of_entities->subscriptions, expected_number_of_entities->subscriptions,
entities_collector_->get_number_of_subscriptions()); entities_collector_->get_number_of_subscriptions());
@ -206,6 +207,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {
// Expect weak_node pointers to be cleaned up and used // Expect weak_node pointers to be cleaned up and used
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition); entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions()); EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
EXPECT_EQ(0u, entities_collector_->get_number_of_timers()); EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
EXPECT_EQ(0u, entities_collector_->get_number_of_services()); EXPECT_EQ(0u, entities_collector_->get_number_of_services());
@ -267,6 +269,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition(); rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition); entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
RCLCPP_SCOPE_EXIT(entities_collector_->fini());
EXPECT_EQ( EXPECT_EQ(
1u + expected_number_of_entities->subscriptions, 1u + expected_number_of_entities->subscriptions,