Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

revert call shutdown in LifecycleNode destructor #2557

Merged
merged 2 commits into from
Jun 11, 2024
Merged

revert call shutdown in LifecycleNode destructor #2557

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
2c25337
Revert "LifecycleNode shutdown on dtor only with valid context. (#2545)"
fujitatomoya Jun 10, 2024
33d1b5d
Revert "call shutdown in LifecycleNode dtor to avoid leaving the devi…
fujitatomoya Jun 10, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 0 additions & 30 deletions rclcpp_lifecycle/src/lifecycle_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -152,37 +152,8 @@ LifecycleNode::LifecycleNode(

LifecycleNode::~LifecycleNode()
{
auto current_state = LifecycleNode::get_current_state().id();
// shutdown if necessary to avoid leaving the device in any other primary state
if (current_state < lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
if (node_base_->get_context()->is_valid()) {
auto ret = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
auto finalized = LifecycleNode::shutdown(ret);
if (finalized.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED ||
ret != rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS)
{
RCLCPP_WARN(
rclcpp::get_logger("rclcpp_lifecycle"),
"Shutdown error in destruction of LifecycleNode: final state(%s)",
finalized.label().c_str());
}
} else {
// TODO(fujitatomoya): consider when context is gracefully shutdown before.
RCLCPP_DEBUG(
rclcpp::get_logger("rclcpp_lifecycle"),
"Context invalid error in destruction of LifecycleNode: Node still in transition state(%u)",
current_state);
}
} else if (current_state > lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp_lifecycle"),
"Shutdown error in destruction of LifecycleNode: Node still in transition state(%u)",
current_state);
}

// release sub-interfaces in an order that allows them to consult with node_base during tear-down
node_waitables_.reset();
node_type_descriptions_.reset();
Copy link
Collaborator Author

@fujitatomoya fujitatomoya Jun 10, 2024 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

this is actually bug fix, i will re-submit this after revert as follow-up.

node_time_source_.reset();
node_parameters_.reset();
node_clock_.reset();
Expand All @@ -191,7 +162,6 @@ LifecycleNode::~LifecycleNode()
node_timers_.reset();
node_logging_.reset();
node_graph_.reset();
node_base_.reset();
Copy link
Collaborator Author

@fujitatomoya fujitatomoya Jun 10, 2024 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

this is actually bug fix, i will re-submit this after revert as follow-up.

}

const char *
Expand Down
140 changes: 0 additions & 140 deletions rclcpp_lifecycle/test/test_lifecycle_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -447,146 +447,6 @@ TEST_F(TestDefaultStateMachine, bad_mood) {
EXPECT_EQ(1u, test_node->number_of_callbacks);
}


TEST_F(TestDefaultStateMachine, shutdown_from_each_primary_state) {
fujitatomoya marked this conversation as resolved.
Show resolved Hide resolved
auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;

// PRIMARY_STATE_UNCONFIGURED to shutdown
{
auto ret = reset_key;
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto finalized = test_node->shutdown(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
}

// PRIMARY_STATE_INACTIVE to shutdown
{
auto ret = reset_key;
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto configured = test_node->configure(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
ret = reset_key;
auto finalized = test_node->shutdown(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
}

// PRIMARY_STATE_ACTIVE to shutdown
{
auto ret = reset_key;
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto configured = test_node->configure(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
ret = reset_key;
auto activated = test_node->activate(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
ret = reset_key;
auto finalized = test_node->shutdown(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
}

// PRIMARY_STATE_FINALIZED to shutdown
{
auto ret = reset_key;
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto configured = test_node->configure(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
ret = reset_key;
auto activated = test_node->activate(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
ret = reset_key;
auto finalized = test_node->shutdown(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
ret = reset_key;
auto finalized_again = test_node->shutdown(ret);
EXPECT_EQ(reset_key, ret);
EXPECT_EQ(finalized_again.id(), State::PRIMARY_STATE_FINALIZED);
}
}

TEST_F(TestDefaultStateMachine, test_shutdown_on_dtor) {
auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;

bool shutdown_cb_called = false;
auto on_shutdown_callback =
[&shutdown_cb_called](const rclcpp_lifecycle::State &) ->
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn {
shutdown_cb_called = true;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
};

// PRIMARY_STATE_UNCONFIGURED to shutdown via dtor
shutdown_cb_called = false;
{
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
EXPECT_FALSE(shutdown_cb_called);
}
EXPECT_TRUE(shutdown_cb_called);

// PRIMARY_STATE_INACTIVE to shutdown via dtor
shutdown_cb_called = false;
{
auto ret = reset_key;
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
auto configured = test_node->configure(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
EXPECT_FALSE(shutdown_cb_called);
}
EXPECT_TRUE(shutdown_cb_called);

// PRIMARY_STATE_ACTIVE to shutdown via dtor
shutdown_cb_called = false;
{
auto ret = reset_key;
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
auto configured = test_node->configure(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
ret = reset_key;
auto activated = test_node->activate(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
EXPECT_FALSE(shutdown_cb_called);
}
EXPECT_TRUE(shutdown_cb_called);

// PRIMARY_STATE_FINALIZED to shutdown via dtor
shutdown_cb_called = false;
{
auto ret = reset_key;
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
auto configured = test_node->configure(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
ret = reset_key;
auto activated = test_node->activate(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
ret = reset_key;
auto finalized = test_node->shutdown(ret);
EXPECT_EQ(success, ret);
EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
EXPECT_TRUE(shutdown_cb_called); // should be called already
}
EXPECT_TRUE(shutdown_cb_called);
}

TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");

Expand Down