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fix race in test_lifecycle_service_client (#1204)

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Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
This commit is contained in:
Dirk Thomas 2020-06-26 16:00:31 -07:00 • committed by Alejandro Hernández Cordero
parent e920175dae
commit d04ec4bf80
1 changed files with 15 additions and 4 deletions
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19
rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
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@ -20,6 +20,7 @@
#include <gtest/gtest.h>
#include <chrono>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
@ -220,21 +221,31 @@ private:
void TearDown() override
{
rclcpp::shutdown();
{
std::lock_guard<std::mutex> guard(shutdown_mutex_);
rclcpp::shutdown();
}
spinner_.join();
}
void spin()
{
while (rclcpp::ok()) {
rclcpp::spin_some(lifecycle_node_->get_node_base_interface());
rclcpp::spin_some(lifecycle_client_);
while (true) {
{
std::lock_guard<std::mutex> guard(shutdown_mutex_);
if (!rclcpp::ok()) {
break;
}
rclcpp::spin_some(lifecycle_node_->get_node_base_interface());
rclcpp::spin_some(lifecycle_client_);
}
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
std::shared_ptr<EmptyLifecycleNode> lifecycle_node_;
std::shared_ptr<LifecycleServiceClient> lifecycle_client_;
std::mutex shutdown_mutex_;
std::thread spinner_;
};