From e7f825e55725ae4b7a3b01182a4f3b5e207ea49a Mon Sep 17 00:00:00 2001
From: Guillaume Autran <gautran@clearpathrobotics.com>
Date: Thu, 10 May 2018 16:13:36 -0400
Subject: [PATCH] Change to force a rebuild of the pollset on flag changes
 (#1393)

* Change to force a rebuild of the pollset on flag changes

This change fixes issues seen in #1357, resulting from #1281
---
 clients/roscpp/src/libros/io.cpp                   | 4 ++++
 clients/roscpp/src/libros/poll_set.cpp             | 2 ++
 test/test_roscpp/test/CMakeLists.txt               | 2 +-
 test/test_roscpp/test_serialization/CMakeLists.txt | 8 ++++----
 4 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/clients/roscpp/src/libros/io.cpp b/clients/roscpp/src/libros/io.cpp
index 66c4a9993a..d508cca817 100644
--- a/clients/roscpp/src/libros/io.cpp
+++ b/clients/roscpp/src/libros/io.cpp
@@ -119,6 +119,8 @@ void close_socket_watcher(int fd) {
 void add_socket_to_watcher(int epfd, int fd) {
 #if defined(HAVE_EPOLL)
   struct epoll_event ev;
+  bzero(&ev, sizeof(ev));
+
   ev.events = 0;
   ev.data.fd = fd;
 
@@ -147,6 +149,8 @@ void del_socket_from_watcher(int epfd, int fd) {
 void set_events_on_socket(int epfd, int fd, int events) {
 #if defined(HAVE_EPOLL)
   struct epoll_event ev;
+  bzero(&ev, sizeof(ev));
+
   ev.events = events;
   ev.data.fd = fd;
   if (::epoll_ctl(epfd, EPOLL_CTL_MOD, fd, &ev))
diff --git a/clients/roscpp/src/libros/poll_set.cpp b/clients/roscpp/src/libros/poll_set.cpp
index 7ae227d48d..50580ee806 100644
--- a/clients/roscpp/src/libros/poll_set.cpp
+++ b/clients/roscpp/src/libros/poll_set.cpp
@@ -139,6 +139,7 @@ bool PollSet::addEvents(int sock, int events)
 
   set_events_on_socket(epfd_, sock, it->second.events_);
 
+  sockets_changed_ = true;
   signal();
 
   return true;
@@ -161,6 +162,7 @@ bool PollSet::delEvents(int sock, int events)
 
   set_events_on_socket(epfd_, sock, it->second.events_);
 
+  sockets_changed_ = true;
   signal();
 
   return true;
diff --git a/test/test_roscpp/test/CMakeLists.txt b/test/test_roscpp/test/CMakeLists.txt
index 7328a59828..05dae977d3 100644
--- a/test/test_roscpp/test/CMakeLists.txt
+++ b/test/test_roscpp/test/CMakeLists.txt
@@ -1,6 +1,6 @@
 catkin_add_gtest(${PROJECT_NAME}-test_version test_version.cpp)
 if(TARGET ${PROJECT_NAME}-test_version)
-  target_link_libraries(${PROJECT_NAME}-test_version)
+  target_link_libraries(${PROJECT_NAME}-test_version ${catkin_LIBRARIES})
 endif()
 
 catkin_add_gtest(${PROJECT_NAME}-test_header test_header.cpp)
diff --git a/test/test_roscpp/test_serialization/CMakeLists.txt b/test/test_roscpp/test_serialization/CMakeLists.txt
index 27e35175d2..be7c426f60 100644
--- a/test/test_roscpp/test_serialization/CMakeLists.txt
+++ b/test/test_roscpp/test_serialization/CMakeLists.txt
@@ -4,24 +4,24 @@ endif()
 
 catkin_add_gtest(${PROJECT_NAME}-serialization src/serialization.cpp)
 if(TARGET ${PROJECT_NAME}-serialization)
-  target_link_libraries(${PROJECT_NAME}-serialization ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME}-serialization ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
   add_dependencies(${PROJECT_NAME}-serialization ${${PROJECT_NAME}_EXPORTED_TARGETS})
 endif()
 
 catkin_add_gtest(${PROJECT_NAME}-generated_messages src/generated_messages.cpp)
 if(TARGET ${PROJECT_NAME}-generated_messages)
-  target_link_libraries(${PROJECT_NAME}-generated_messages ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME}-generated_messages ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
   add_dependencies(${PROJECT_NAME}-generated_messages ${${PROJECT_NAME}_EXPORTED_TARGETS})
 endif()
 
 add_executable(${PROJECT_NAME}-builtin_types EXCLUDE_FROM_ALL src/builtin_types.cpp)
 add_dependencies(tests ${PROJECT_NAME}-builtin_types) 
-target_link_libraries(${PROJECT_NAME}-builtin_types ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}-builtin_types ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
 add_dependencies(${PROJECT_NAME}-builtin_types ${${PROJECT_NAME}_EXPORTED_TARGETS})
 add_rostest(test/builtin_types.test)
 
 add_executable(${PROJECT_NAME}-pre_deserialize EXCLUDE_FROM_ALL src/pre_deserialize.cpp)
 add_dependencies(tests ${PROJECT_NAME}-pre_deserialize)
-target_link_libraries(${PROJECT_NAME}-pre_deserialize ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}-pre_deserialize ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
 add_dependencies(${PROJECT_NAME}-pre_deserialize ${${PROJECT_NAME}_EXPORTED_TARGETS})
 add_rostest(test/pre_deserialize.test)