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Merged
clalancette merged 6 commits into from
Oct 15, 2020
Merged

Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency #1303

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6d5d903
Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr…
Sep 11, 2020
5b19c63
Call fini to avoid memory leak
Sep 14, 2020
d671b93
Call fini for new test cases after rebasing branch
Oct 10, 2020
61023d1
Use print error message to instead of throwing exception at destructor
Oct 10, 2020
9f3552c
Remove unnecessary test cleanups.
clalancette Oct 13, 2020
cc17f60
use scope exit to call fini
Oct 15, 2020
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7 changes: 6 additions & 1 deletion rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,9 +64,14 @@ class StaticExecutorEntitiesCollector final
void
init(
rcl_wait_set_t * p_wait_set,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
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clalancette marked this conversation as resolved.
rcl_guard_condition_t * executor_guard_condition);

/// Finalize StaticExecutorEntitiesCollector to clear resources
RCLCPP_PUBLIC
void
fini();

RCLCPP_PUBLIC
void
execute() override;
Expand Down
11 changes: 8 additions & 3 deletions rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
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Expand Up @@ -194,14 +194,16 @@ class StaticSingleThreadedExecutor : public rclcpp::Executor

entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);

rclcpp::FutureReturnCode ret = rclcpp::FutureReturnCode::INTERRUPTED;
while (rclcpp::ok(this->context_)) {
// Do one set of work.
entities_collector_->refresh_wait_set(timeout_left);
execute_ready_executables();
// Check if the future is set, return SUCCESS if it is.
status = future.wait_for(std::chrono::seconds(0));
if (status == std::future_status::ready) {
return rclcpp::FutureReturnCode::SUCCESS;
ret = rclcpp::FutureReturnCode::SUCCESS;
break;
}
// If the original timeout is < 0, then this is blocking, never TIMEOUT.
if (timeout_ns < std::chrono::nanoseconds::zero()) {
Expand All @@ -210,14 +212,17 @@ class StaticSingleThreadedExecutor : public rclcpp::Executor
// Otherwise check if we still have time to wait, return TIMEOUT if not.
auto now = std::chrono::steady_clock::now();
if (now >= end_time) {
return rclcpp::FutureReturnCode::TIMEOUT;
ret = rclcpp::FutureReturnCode::TIMEOUT;
break;
}
// Subtract the elapsed time from the original timeout.
timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
}

entities_collector_->fini();

// The future did not complete before ok() returned false, return INTERRUPTED.
return rclcpp::FutureReturnCode::INTERRUPTED;
return ret;
}

/// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking
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9 changes: 8 additions & 1 deletion rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp
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Expand Up @@ -61,7 +61,7 @@ StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector()
void
StaticExecutorEntitiesCollector::init(
rcl_wait_set_t * p_wait_set,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
rcl_guard_condition_t * executor_guard_condition)
{
// Empty initialize executable list
Expand All @@ -80,6 +80,13 @@ StaticExecutorEntitiesCollector::init(
execute();
}

void
StaticExecutorEntitiesCollector::fini()
{
memory_strategy_->clear_handles();
exec_list_.clear();
}

void
StaticExecutorEntitiesCollector::execute()
{
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2 changes: 2 additions & 0 deletions rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp
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Expand Up @@ -48,6 +48,8 @@ StaticSingleThreadedExecutor::spin()
entities_collector_->refresh_wait_set();
execute_ready_executables();
}

entities_collector_->fini();
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@brawner brawner Oct 14, 2020

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Should fini also be called if an exception is thrown inside the while loop? That is, should this call be put in a SCOPE_EXIT block just after init(), or is it suitable just at the end here?

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@clalancette clalancette Oct 14, 2020

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Yeah, that is a good idea I didn't think of earlier. It's pretty unlikely to happen (and if it did the test would fail, so a memory leak isn't the worst thing), but we may as well be complete while we are looking at it. @iuhilnehc-ynos do you mind making that last change?

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@iuhilnehc-ynos iuhilnehc-ynos Oct 15, 2020 •
edited
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@brawner

Thank you for pointing this.
Hmmm, I think I need to catch the exception to call fini() and then rethrow it,
and also update for using SCOPE_EXIT to call fini() in the test cases.

Edit: there exists RCLCPP_SCOPE_EXIT, I'll use it.

}

void
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8 changes: 8 additions & 0 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
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Expand Up @@ -410,6 +410,14 @@ class TestWaitable : public rclcpp::Waitable
}
}

~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
add_to_wait_set(rcl_wait_set_t * wait_set) override
{
Expand Down
17 changes: 10 additions & 7 deletions rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
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Expand Up @@ -190,6 +190,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_basic_node) {

// Still one for the executor
EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
entities_collector_->fini();
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@brawner brawner Oct 14, 2020

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Same question for all these fini() calls. Should they go inside a SCOPE_EXIT block?

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@iuhilnehc-ynos iuhilnehc-ynos Oct 15, 2020

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updated

}

TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {
Expand Down Expand Up @@ -224,6 +225,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {

// Still one for the executor
EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
entities_collector_->fini();
}

class TestWaitable : public rclcpp::Waitable
Expand Down Expand Up @@ -303,6 +305,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
// Still one for the executor
EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
entities_collector_->fini();
}

TEST_F(TestStaticExecutorEntitiesCollector, add_callback_group) {
Expand Down Expand Up @@ -365,7 +368,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_clear_
}

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
entities_collector_->fini();
}

TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize_error) {
Expand Down Expand Up @@ -395,7 +398,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize
}

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
entities_collector_->fini();
}

TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_not_initialized) {
Expand Down Expand Up @@ -432,7 +435,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_rcl_wait_failed) {
}

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
entities_collector_->fini();
}

TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait_set_failed) {
Expand Down Expand Up @@ -483,7 +486,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait
}

entities_collector_->remove_node(node->get_node_base_interface());
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
entities_collector_->fini();
}

TEST_F(TestStaticExecutorEntitiesCollector, add_to_wait_set_nullptr) {
Expand Down Expand Up @@ -511,7 +514,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_to_wait_set_nullptr) {
rcl_reset_error();

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
entities_collector_->fini();
}

TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group) {
Expand Down Expand Up @@ -543,7 +546,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group)
ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
entities_collector_->fini();
}

TEST_F(TestStaticExecutorEntitiesCollector, remove_callback_group_after_node) {
Expand Down Expand Up @@ -615,5 +618,5 @@ TEST_F(
entities_collector_->execute();

EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
entities_collector_->fini();
}