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fix spin_some_max_duration unit-test for events-executor #2465

Merged
merged 2 commits into from
Mar 26, 2024
Merged

fix spin_some_max_duration unit-test for events-executor #2465

merged 2 commits into from
Mar 26, 2024

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alsora
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@alsora alsora commented Mar 23, 2024 •
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This PR partially fixes #2462

The EventsExecutor and the StaticSingleThreadedExecutor were failing a unit-test.
This PR fixes the test for the EventsExecutor.

The waitables were not triggered, so the events executor was not executing them.

This poses the question... Why do the other executors "execute" a waitable that was not triggered?
EDIT: the other executors worked because there was a bug in the is_ready method of the TestWaitable class. This was returning "true" regardless of whether the waitable was triggered.
Fixed it as a separate commit 0e6c78d

FYI @wjwwood

@alsora alsora mentioned this pull request Mar 23, 2024
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alsora commented Mar 26, 2024

There's a few test failures, but they are all unrelated.

  • uncrustify errors in linux x86_64 and arm64
  • a timers manager error in Windows

Can we still merge this PR?
I remember reading about some Timers Manager Windows failures in another ticket, but I can't remember where, is this the same one? rclcpp.TestTimersManager.check_one_timer_cancel_doesnt_affect_other_timers

C:\ci\ws\src\ros2\rclcpp\rclcpp\test\rclcpp\test_timers_manager.cpp:405
Expected: (t1_runs + 5) < (t2_runs), actual: 10 vs 11

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  • uncrustify errors in linux x86_64 and arm64

Yeah, these are unrelated, but should be fixed now.

  • a timers manager error in Windows

Yes, this one has been plaguing us for a while. If you have any time to look into it, it would be most appreciated.

@mjcarroll mjcarroll merged commit 42810ee into rolling Mar 26, 2024
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@delete-merged-branch delete-merged-branch bot deleted the asoragna/spin-some-max-duration-fix branch March 26, 2024 13:34
wjwwood pushed a commit that referenced this pull request Mar 27, 2024
@alsora @wjwwood
fix spin_some_max_duration unit-test for events-executor (#2465)
00373aa 
Signed-off-by: Alberto Soragna <[email protected]>
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wjwwood commented Mar 27, 2024

Thanks @alsora, sorry I put in the broken test (missed the triggering of the waitables), indeed the TestWaitable was broken by design (for this test).

I'll re-evaluate the tests w.r.t. #2142 based on that.

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alsora commented Mar 27, 2024

@clalancette I opened a PR with a proposed fix for the timers manager unit-test.
#2468
The test expectation was relying on the test being executed fast enough, which is often not the case on Windows.

CursedRock17 pushed a commit to CursedRock17/rclcpp that referenced this pull request Apr 2, 2024
@methylDragon @CursedRock17
Fix delivered message kind (ros2#2175)
7af70b8 
Signed-off-by: methylDragon <[email protected]>

Fix a format-security warning when building with clang (ros2#2171)

In particular, you should never have a "bare" string in a
printf-like call; that could potentially access uninitialized
memory. Instead, make sure to format the string with %s.

Signed-off-by: Chris Lalancette <[email protected]>

Add missing stdexcept include (ros2#2186)

Signed-off-by: Øystein Sture <[email protected]>

Fix race condition in events-executor (ros2#2177)

The initial implementation of the events-executor contained a bug where the executor
would end up in an inconsistent state and stop processing interrupt/shutdown notifications.
Manually adding a node to the executor results in a) producing a notify waitable event
and b) refreshing the executor collections.
The inconsistent state would happen if the event was processed before the collections were
finished to be refreshed: the executor would pick up the event but be unable to process it.
This would leave the `notify_waitable_event_pushed_` flag to true, preventing additional
notify waitable events to be pushed.
The behavior is observable only under heavy load.

Signed-off-by: Alberto Soragna <[email protected]>

Changelog

Signed-off-by: Yadunund <[email protected]>

21.1.1

Declare rclcpp callbacks before the rcl entities (ros2#2024)

This is to ensure callbacks are destroyed last
on entities destruction, avoiding the gap in time
in which rmw entities hold a reference to a
destroyed function.

Signed-off-by: Mauro Passerino <[email protected]>
Co-authored-by: Mauro Passerino <[email protected]>

add mutex to protect events_executor current entity collection (ros2#2187)

* add mutex to protect events_executor current entity collection and unit-test

Signed-off-by: Alberto Soragna <[email protected]>

* be more precise with mutex locks; make stress test less stressfull

Signed-off-by: Alberto Soragna <[email protected]>

* fix uncrustify error

Signed-off-by: Alberto Soragna <[email protected]>

---------

Signed-off-by: Alberto Soragna <[email protected]>

Feature/available capacity of ipm (ros2#2173)

* added available_capacity to get the lowest number of free capacity for intra-process communication for a publisher

Signed-off-by: Joshua Hampp <[email protected]>

* added unit tests for available_capacity

Signed-off-by: Joshua Hampp <[email protected]>
Signed-off-by: Joshua Hampp <[email protected]>

* fixed typos in comments

Signed-off-by: Joshua Hampp <[email protected]>

* Updated warning

Co-authored-by: Alberto Soragna <[email protected]>
Signed-off-by: Joshua Hampp <[email protected]>

* returning 0 if ipm is disabled in lowest_available_ipm_capacity

Signed-off-by: Joshua Hampp <[email protected]>

* return 0 if no subscribers are present in lowest_available_capacity

Signed-off-by: Joshua Hampp <[email protected]>

* updated unit test

Signed-off-by: Joshua Hampp <[email protected]>

* update unit test

Signed-off-by: Joshua Hampp <[email protected]>

* moved available_capacity to a lambda function to be able to handle subscriptions which went out of scope

Signed-off-by: Joshua Hampp <[email protected]>

* updated unit test to check subscriptions which went out of scope

Signed-off-by: Joshua Hampp <[email protected]>

---------

Signed-off-by: Joshua Hampp <[email protected]>
Signed-off-by: Joshua Hampp <[email protected]>
Co-authored-by: Joshua Hampp <[email protected]>
Co-authored-by: Joshua Hampp <[email protected]>
Co-authored-by: Alberto Soragna <[email protected]>

remove nolint since ament_cpplint updated for the c++17 header (ros2#2198)

Signed-off-by: Chen Lihui <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

21.2.0

Use TRACETOOLS_ prefix for tracepoint-related macros (ros2#2162)

Signed-off-by: Christophe Bedard <[email protected]>

Remove flaky stressAddRemoveNode test (ros2#2206)

Signed-off-by: Michael Carroll <[email protected]>

Fix up misspellings of "receive". (ros2#2208)

Signed-off-by: Chris Lalancette <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

21.3.0

Enable callback group tests for connextdds (ros2#2182)

* Enable callback group tests for connextdds

* Enable executors and event executor tests for connextdds

* Enable qos events tests for connextdds

* Less flaky qos_event tests

Signed-off-by: Christopher Wecht <[email protected]>

Modifies timers API to select autostart state (ros2#2005)

* Modifies timers API to select autostart state

* Removes unnecessary variables

* Adds autostart documentation and expands some timer test

Signed-off-by: Voldivh <[email protected]>

warning: comparison of integer expressions of different signedness (ros2#2219)

  ros2#2167 (comment)

Signed-off-by: Tomoya Fujita <[email protected]>

Revamp the test_subscription.cpp tests. (ros2#2227)

The original motiviation to do this was a crash during
teardown when using a newer version of gtest.  But while
I was in here, I did a small overall cleanup, including:

1.  Moving code closer to where it is actually used.
2.  Getting rid of unused 'using' statements.
3.  Adding in missing includes.
4.  Properly tearing down and recreating the rclcpp
    context during test teardown (this fixed the actual
    bug).
5.  Making class members private where possible.
6.  Renaming class methods to our usual conventions.

Signed-off-by: Chris Lalancette <[email protected]>

Move always_false_v to detail namespace (ros2#2232)

Since this is a common idiom, especially under this name, we should
define the `always_false_v` template within a namespace to avoid
conflict with other libraries and user code. This could either be
`rclcpp::detail` if it's intended only for internal use or just `rclcpp`
if it's intended as a public helper. In this PR, I've initially chosen
the former.

Signed-off-by: Nathan Wiebe Neufeldt <[email protected]>

Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (ros2#2224)

* TypeDescriptions interface with readonly param configuration

* Add parameter descriptor, to make read only

* example of spinning in thread for get_type_description service

* Add a basic test for the new interface

* Fix tests with new parameter

* Add comments about builtin parameters

Signed-off-by: Emerson Knapp <[email protected]>
Signed-off-by: William Woodall <[email protected]>

Switch lifecycle to use the RCLCPP macros. (ros2#2233)

This ensures that they'll go out to /rosout and the disk.

Signed-off-by: Chris Lalancette <[email protected]>

Implement get_node_type_descriptions_interface for lifecyclenode and add smoke test for it (ros2#2237)

Signed-off-by: Emerson Knapp <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

22.0.0

Stop using constref signature of benchmark DoNotOptimize. (ros2#2238)

* Stop using constref signature of benchmark DoNotOptimize.

Newer versions of google benchmark (1.8.2 in my case) warn
that the compiler may optimize away the DoNotOptimize calls
when using the constref version.  Get away from that here
by explicitly *not* calling the constref version, casting
where necessary.

Signed-off-by: Chris Lalancette <[email protected]>

Instrument loaned message publication code path (ros2#2240)

Signed-off-by: Christophe Bedard <[email protected]>

associated clocks should be protected by mutex. (ros2#2255)

Signed-off-by: Tomoya Fujita <[email protected]>

Change associated clocks storage to unordered_set (ros2#2257)

Signed-off-by: Luca Della Vedova <[email protected]>

Adding Missing Group Exceptions (ros2#2256)

* Adding Missing Group Exceptions

Signed-off-by: CursedRock17 <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Tomoya Fujita <[email protected]>

Add spin_all shortcut (ros2#2246)

Signed-off-by: Tony Najjar <[email protected]>

Remove an unused variable from the events executor tests. (ros2#2270)

Signed-off-by: Chris Lalancette <[email protected]>

Add a pimpl inside rclcpp::Node for future distro backports (ros2#2228)

* Add a pimpl inside rclcpp::Node for future distro backports

Signed-off-by: Emerson Knapp <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

Adding Custom Unknown Type Error (ros2#2272)

Signed-off-by: CursedRock17 <[email protected]>
Co-authored-by: Christophe Bedard <[email protected]>

Do not crash Executor when send_response fails due to client failure. (ros2#2276)

* Do not crash Executor when send_response fails due to client failure.

Related to ros2/ros2#1253

It is not sane that a faulty client can crash our service Executor, as
discussed in the referred issue, if the client is not setup properly,
send_response may return RCL_RET_TIMEOUT, we should not throw an error
in this case.

Signed-off-by: Zang MingJie <[email protected]>

* Update rclcpp/include/rclcpp/service.hpp

Co-authored-by: Tomoya Fujita <[email protected]>
Signed-off-by: Zang MingJie <[email protected]>

* address review comments.

Signed-off-by: Tomoya Fujita <[email protected]>

---------

Signed-off-by: Zang MingJie <[email protected]>
Signed-off-by: Tomoya Fujita <[email protected]>
Co-authored-by: Zang MingJie <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

22.1.0

doc fix: call `canceled` only after goal state is in canceling. (ros2#2266)

Signed-off-by: Tomoya Fujita <[email protected]>

Fix a typo in a comment. (ros2#2283)

Signed-off-by: Chris Lalancette <[email protected]>

Revamp list_parameters to be more efficient and easier to read. (ros2#2282)

1. Use constref for the loop variable.
2. Do more work outside of the loop.
3. Skip doing unnecessary work where we can inside the loop.

With this in place, I measured about a 7% performance
improvement over the previous implementation.

Signed-off-by: Chris Lalancette <[email protected]>

Add rcl_logging_interface as an explicit dependency. (ros2#2284)

It is depended on by rclcpp/src/rclcpp/logger.cpp, but
the dependency was not explicitly declared (it was
being inherited from rcl, I believe).  Fix that here.

Signed-off-by: Chris Lalancette <[email protected]>

add logger level service to lifecycle node. (ros2#2277)

Signed-off-by: Tomoya Fujita <[email protected]>

Remove unnecessary lambda captures in the tests. (ros2#2289)

* Remove unnecessary lambda captures in the tests.

This was pointed out by compiling with clang.

Signed-off-by: Chris Lalancette <[email protected]>

Correct the position of a comment. (ros2#2290)

Signed-off-by: Jiaqi Li <[email protected]>

Make Rate to select the clock to work with (ros2#2123)

* Make Rate to select the clock to work with
Add ROSRate respective with ROS time

* Make GenericRate class to be deprecated

* Adjust test cases for new rates

is_steady() to be deprecated

Signed-off-by: Alexey Merzlyakov <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

Fix C++20 allocator construct deprecation (ros2#2292)

Signed-off-by: Guilherme Rodrigues <[email protected]>

Topic correct typeadapter deduction (ros2#2294)

* fix TypeAdapter deduction

Signed-off-by: Chen Lihui <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

22.2.0

Cleanup flaky timers_manager tests. (ros2#2299)

* Cleanup flaky timers_manager tests.

The timers_manager tests were relying too heavily on
specific timings; this caused them to be flaky on the
buildfarm, particularly on Windows.

Here, we increase the timeouts, and remove one test which
just relies too heavily on specific timeouts.  This should
make this test much less flaky on the buildfarm.

Signed-off-by: Chris Lalancette <[email protected]>

fix(ClientGoalHandle): Made mutex recursive to prevent deadlocks (ros2#2267)

* fix(ClientGoalHandle): Made mutex recursive to prevent deadlocks

This prevents deadlocks in cases, were e.g. get_status() would
be called on the handle in a callback of the handle.

* test(rclcpp_action): Added test for deadlocks during access of a goal handle

This test checks, if the code deadlocks, if methods on the goal handle are
called from the callbacks.

Signed-off-by: Janosch Machowinski <[email protected]>
Co-authored-by: Tomoya Fujita <[email protected]>

Update API docs links in package READMEs (ros2#2302)

Signed-off-by: Christophe Bedard <[email protected]>

Fix the return type of Rate::period. (ros2#2301)

In a recent commit (bc43577),
we reworked how the Rate class worked so it could be
used with ROS time as well.  Unfortunately, we also
accidentally broke the API of it by changing the return
type of Rate::period to a Duration instead of a
std::chrono::nanoseconds .  Put this back to a std::chrono::nanoseconds;
if we want to change it to a Duration, we'll have to
add a new method and deprecate this one.

Signed-off-by: Chris Lalancette <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

23.0.0

fix the depth to relative in list_parameters (ros2#2300)

* fix the depth to relative in list_parameters

Signed-off-by: leeminju531 <[email protected]>

Decouple rosout publisher init from node init. (ros2#2174)

Signed-off-by: Tomoya Fujita <[email protected]>

Documentation for list_parameters  (ros2#2315)

* list_parameters documentation

Signed-off-by: CursedRock17 <[email protected]>

Removing Old Connext Tests (ros2#2313)

* Removing Old Connext Tests

Signed-off-by: CursedRock17 <[email protected]>

Update SignalHandler get_global_signal_handler to avoid complex types in static memory (ros2#2316)

* Update SignalHandler get_global_signal_handler to avoid complex types in static memory

This was flagged by msan as a problem.

There's a description of why this is a potential problem here: https://google.github.io/styleguide/cppguide.html#Static_and_Global_Variables

Signed-off-by: Tully Foote <[email protected]>
Co-authored-by: William Woodall <[email protected]>

Add locking to protect the TimeSource::NodeState::node_base_ (ros2#2320)

We need this because it is possible for one thread to
be handling the on_parameter_event callback while another
one is detaching the node.  This lock will protect that
from happening.

Signed-off-by: Chris Lalancette <[email protected]>

Add missing header required by the rclcpp::NodeOptions type (ros2#2324)

Signed-off-by: Ignacio Vizzo <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

23.1.0

Adding API to copy all parameters from one node to another (ros2#2304)

Signed-off-by: stevemacenski <[email protected]>

remove invalid sized allocation test for SerializedMessage. (ros2#2330)

Signed-off-by: Tomoya Fujita <[email protected]>

add clients & services count (ros2#2072)

* add clients & services count

* add count clients,services tests

Signed-off-by: leeminju531 <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

23.2.0

Fix rclcpp_lifecycle inclusion on Windows. (ros2#2331)

The comment in the commit explains this clearly, but
on Windows ERROR is a macro.  The reuse of it, even
as an enum, causes compilation errors on downstream
users.  Push the macro and undefine it so downstream
consumers can freely include it.

Signed-off-by: Chris Lalancette <[email protected]>

Remove useless ROSRate class (ros2#2326)

Signed-off-by: Alexey Merzlyakov <[email protected]>

Fixes pointed out by the clang analyzer. (ros2#2339)

1. Remove the default Logger copy constructor without copy
assignment (rule of three -> rule of zero).
2. Remove an unnecessary capture in a lambda.
3. Mark a variable unused.
4. Mark a method as override.

Signed-off-by: Chris Lalancette <[email protected]>

address rate related flaky tests. (ros2#2329)

Signed-off-by: Tomoya Fujita <[email protected]>

Adjust rclcpp usage of type description service (ros2#2344)

Signed-off-by: Michael Carroll <[email protected]>

Add missing 'enable_rosout' comments (ros2#2345)

Signed-off-by: Jiaqi Li <[email protected]>

Use message_info in SubscriptionTopicStatistics instead of typed message (ros2#2337)

* Use message_info in SubscriptionTopicStatistics instead of typed message

- Untemplatize the rclcpp::topic_statistics::SubscriptionTopicStatistics
class. Now we will be using message_info instead of typed deserialized
messages in the handle_message callbacks.

* Fix test_receive_stats_include_window_reset by using publisher emulator

- Emulate publishing messages by directly calling
rclcpp::Subscription::handle_message(msg_shared_ptr, message_info) and
settling up needed message_info.source_timestamp

Signed-off-by: Michael Orlov <[email protected]>
Co-authored-by: Tomoya Fujita <[email protected]>

Disable the loaned messages inside the executor. (ros2#2335)

* Disable the loaned messages inside the executor.

They are currently unsafe to use; see the comment in the
commit for more information.

Signed-off-by: Chris Lalancette <[email protected]>

Add a custom deleter when constructing rcl_service_t (ros2#2351)

* Add a custom deleter when constructing rcl_service_t

In the type description service construction, we were previously passing
the shared_ptr to the rcl_service_t with the assumption that
rclcpp::Service would do the clean up.  This was an incorrect
assumption, and so I have added a custom deleter to fini the service and
delete when the shared_ptr is cleaned up.

Signed-off-by: Michael Carroll <[email protected]>

Serialized Messages with Topic Statistics (ros2#2274)

Signed-off-by: CursedRock17 <[email protected]>

rclcpp::Time::max() clock type support. (ros2#2352)

Signed-off-by: Tomoya Fujita <[email protected]>

Updates to not use std::move in some places. (ros2#2353)

gcc 13.1.1 complains that these uses inhibit copy elision.

Signed-off-by: Chris Lalancette <[email protected]>

fix (signal_handler.hpp): spelling (ros2#2356)

Signed-off-by: Zard-C <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

24.0.0

fix(rclcpp_components): increase the service queue sizes in component_container (ros2#2363)

* fix(rclcpp_components): increase the service queue sizes in component_container

Signed-off-by: M. Fatih Cırıt <[email protected]>

Support users holding onto shared pointers in the message memory pool (ros2#2336)

* Support users holding onto shared pointers in the message memory pool

Before this commit, the MessageMemoryPool would actually
reuse messages in the pool, even if the user had taken
additional shared_ptr copies.

This commit fixes things so that we properly handle that situation.  In particular,
we allocate memory during class initialization, and delete
it during destruction.  We then run the constructor when
we hand the pointer out, and the destructor (only) when
we return it to the pool.  This keeps things consistent.
We also add in locks, since in a multi-threaded scenario we need
to protect against multiple threads accessing the pool
at the same time.

With this in place, things work as expected when users hold
shared_ptr copies.  We also add in a test for this situation.

One note about performance: this update preserves the
"no-allocations-at-runtime" aspect of the MessagePool.  However,
there are some tradeoffs with CPU time here, particularly with
very large message pools.  This could probably be optimized
further to do less work when trying to add items back to the
free_list, but I view that as a further enhancement.

Signed-off-by: Chris Lalancette <[email protected]>

Fix data race in EventHandlerBase (ros2#2349)

Both the EventHandler and its associated pubs/subs share
the same underlying rmw event listener.
When a pub/sub is destroyed, the listener is destroyed.
There is a data race when the ~EventHandlerBase wants
to access the listener after it has been destroyed.

The EventHandler stores a shared_ptr of its associated pub/sub.
But since we were clearing the listener event callbacks on the
base class destructor ~EventHandlerBase, the pub/sub was
already destroyed, which means the rmw event listener was also
destroyed, thus causing a segfault when trying to obtain it
to clear the callbacks.

Clearing the callbacks on ~EventHandler instead of
~EventHandlerBase avoids the race, since the pub/sub are still valid.

Signed-off-by: Mauro Passerino <[email protected]>

aligh with rcl that a rosout publisher of a node might not exist (ros2#2357)

* aligh with rcl

* keep same behavior with rclpy

1. to not throw exception durning rcl_logging_rosout_remove_sublogger
2. reset error message for RCL_RET_NOT_FOUND

* test for a node with rosout disabled

Signed-off-by: Chen Lihui <[email protected]>

feat(rclcpp_components): support events executor in node main template (ros2#2366)

Signed-off-by: wep21 <[email protected]>

Switch to target_link_libraries. (ros2#2374)

That way we can hide more of the implementation by using
the PRIVATE keyword.

Signed-off-by: Chris Lalancette <[email protected]>

Adding QoS to subscription options (ros2#2323)

* Adding QoS to subscription options

Signed-off-by: CursedRock17 <[email protected]>

make type support helper supported for service (ros2#2209)

* make type support helper supported for service and action as well

Signed-off-by: Chen Lihui <[email protected]>

* not to use template and only add the necessary service type currently

Signed-off-by: Chen Lihui <[email protected]>

* update comment

Signed-off-by: Chen Lihui <[email protected]>

* add deprecated cycle for `get_typesupport_handle`

Signed-off-by: Chen Lihui <[email protected]>

---------

Signed-off-by: Chen Lihui <[email protected]>

Updated GenericSubscription to AnySubscriptionCallback (ros2#1928)

* added rclcpp::SerializedMessage support for AnySubscriptionCallback

Signed-off-by: Joshua Hampp <[email protected]>
Signed-off-by: Joshua Hampp <[email protected]>

* using AnySubscription callback for generic subscriptiion

Signed-off-by: Joshua Hampp <[email protected]>
Signed-off-by: Joshua Hampp <[email protected]>

* updated tests

Signed-off-by: Joshua Hampp <[email protected]>
Signed-off-by: Joshua Hampp <[email protected]>

* Remove comment

Signed-off-by: Joshua Hampp <[email protected]>

---------

Signed-off-by: Joshua Hampp <[email protected]>
Signed-off-by: Joshua Hampp <[email protected]>
Co-authored-by: Joshua Hampp <[email protected]>
Co-authored-by: Jacob Perron <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

25.0.0

Increase timeout for rclcpp_lifecycle to 360 (ros2#2395)

* Increase timeout for rclcpp_lifecycle to 360

Signed-off-by: Jorge Perez <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

Stop storing the context in the guard condition. (ros2#2400)

* Stop storing the context in the guard condition.

This was creating a circular reference between GuardCondition
and Context, so that Context would never be cleaned up.
Since we never really need the GuardCondition to know
about its own Context, remove that part of the circular
reference.

While we are in here, we also change the get_context()
lambda to a straight weak_ptr; there is no reason for the
indirection since the context for the guard condition
cannot change at runtime.

We also remove the deprecated version of the
get_notify_guard_condition().  That's because there is
no way to properly implement it in the new scheme, and
it seems to be unused outside of rclcpp.

Finally, we add in a test that guarantees the use_count
is what we expect when inside and leaving a scope, ensuring
that contexts will properly be destroyed.

Signed-off-by: Chris Lalancette <[email protected]>

Add transient local durability support to publisher and subscriptions when using intra-process communication (ros2#2303)

* Add intra process transient local durability support to publisher and subscription

Signed-off-by: Jeffery Hsu <[email protected]>

* Remove durability_is_transient_local_ from publisher_base
Signed-off-by: Jeffery Hsu <[email protected]>

* Design changes that move most transient local publish functionalities out of
intra process manager into intra process manager

Signed-off-by: Jeffery Hsu <[email protected]>

* Move transient local publish to a separate function

Signed-off-by: Jeffery Hsu <[email protected]>

* Remove publisher buffer weak ptr from intra process manager when it associated publisher is removed.

Signed-off-by: Jeffery Hsu <[email protected]>

* Remove incorrectly placed RCLCPP_PUBLIC

Signed-off-by: Jeffery Hsu <[email protected]>

* Add missing RCLCPP_PUBLIC

Signed-off-by: Jeffery Hsu <[email protected]>

* Expand RingBufferImplementation beyond shared_ptr and unique_ptr

Signed-off-by: Jeffery Hsu <[email protected]>

* Comment and format fix

Signed-off-by: Jeffery Hsu <[email protected]>

---------

Signed-off-by: Jeffery Hsu <[email protected]>

Increase the cppcheck timeout to 600 seconds. (ros2#2409)

Signed-off-by: Chris Lalancette <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

26.0.0

Make sure to mark RingBuffer methods as 'override'. (ros2#2410)

This gets rid of a warning when building under clang.

Signed-off-by: Chris Lalancette <[email protected]>

Removed deprecated header (ros2#2413)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

[events executor] - Fix Behavior with Timer Cancel (ros2#2375)

* fix

Signed-off-by: Matt Condino <[email protected]>

* add timer cancel tests

Signed-off-by: Matt Condino <[email protected]>

* cleanup header include

Signed-off-by: Matt Condino <[email protected]>

* reverting change to timer_greater function

Signed-off-by: Gus Brigantino <[email protected]>

* use std::optional, and handle edgecase of 1 cancelled timer

Signed-off-by: Matt Condino <[email protected]>

* clean up run_timers func

Signed-off-by: Gus Brigantino <[email protected]>

* some fixes and added tests for cancel then reset of timers.

Signed-off-by: Matt Condino <[email protected]>

* refactor and clean up. remove cancelled timer tracking.

Signed-off-by: Matt Condino <[email protected]>

* remove unused method for size()

Signed-off-by: Matt Condino <[email protected]>

* linting

Signed-off-by: Matt Condino <[email protected]>

* relax timing constraints in tests

Signed-off-by: Matt Condino <[email protected]>

* further relax timing constraints to ensure windows tests are not flaky.

Signed-off-by: Matt Condino <[email protected]>

* use sim clock for tests, pub clock at .25 realtime rate.

Signed-off-by: Matt Condino <[email protected]>

---------

Signed-off-by: Matt Condino <[email protected]>
Signed-off-by: Gus Brigantino <[email protected]>
Co-authored-by: Gus Brigantino <[email protected]>

Split test_executors up into smaller chunks. (ros2#2421)

The original reason is that on Windows Debug, we were
failing to compile because the compilation unit was
too large.  But also this file was way too large (1200
lines), so it makes sense to split it up.

Signed-off-by: Chris Lalancette <[email protected]>

Changelog.

Signed-off-by: Chris Lalancette <[email protected]>

27.0.0

feat: add/minus for msg::Time and rclcpp::Duration (ros2#2419)

* feat: add/minus for msg::Time and rclcpp::Duration

Signed-off-by: HuaTsai <[email protected]>

crash on no class found (ros2#2415)

* crash on no class found

* error on no class found instead of no callback groups

Signed-off-by: Adam Aposhian <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

Update quality declaration documents (ros2#2427)

Signed-off-by: Christophe Bedard <[email protected]>

Set hints to find the python version we actually want. (ros2#2426)

The comment in the commit explains the reasoning behind it.

Signed-off-by: Chris Lalancette <[email protected]>

fix doxygen syntax for NodeInterfaces (ros2#2428)

Signed-off-by: Jonas Otto <[email protected]>

Remove the set_deprecated signatures in any_subscription_callback. (ros2#2431)

These have been deprecated since April 2021, so it is safe
to remove them now.

Signed-off-by: Chris Lalancette <[email protected]>

Add EXECUTOR docs (ros2#2440)

Signed-off-by: Ruddick Lawrence <[email protected]>

Various cleanups to deal with uncrustify 0.78. (ros2#2439)

These should also work with uncrustify 0.72.

Signed-off-by: Chris Lalancette <[email protected]>

Rule of five: implement move operators (ros2#2425)

Signed-off-by: Tim Clephas <[email protected]>

Implement generic client (ros2#2358)

* Implement generic client

Signed-off-by: Barry Xu <[email protected]>

* Fix the incorrect parameter declaration

Signed-off-by: Barry Xu <[email protected]>

* Deleted copy constructor and assignment for FutureAndRequestId

Signed-off-by: Barry Xu <[email protected]>

* Update codes after rebase

Signed-off-by: Barry Xu <[email protected]>

* Address review comments

Signed-off-by: Barry Xu <[email protected]>

* Address review comments from iuhilnehc-ynos

Signed-off-by: Barry Xu <[email protected]>

* Correct an error in a description

Signed-off-by: Barry Xu <[email protected]>

* Fix window build errors

Signed-off-by: Barry Xu <[email protected]>

* Address review comments from William

Signed-off-by: Barry Xu <[email protected]>

* Add doc strings to create_generic_client

Signed-off-by: Barry Xu <[email protected]>

---------

Signed-off-by: Barry Xu <[email protected]>

Fix TypeAdapted publishing with large messages. (ros2#2443)

Mostly by ensuring we aren't attempting to store
large messages on the stack.  Also add in tests.
I verified that before these changes, the tests failed,
while after them they succeed.

Signed-off-by: Chris Lalancette <[email protected]>

Modify rclcpp_action::GoalUUID hashing algorithm (ros2#2441)

* Add unit tests for hashing rclcpp_action::GoalUUID's

* Use the FNV-1a hash algorithm for Goal UUID

Signed-off-by: Mauro Passerino <[email protected]>

relax the test simulation rate for timer canceling tests. (ros2#2453)

Signed-off-by: Tomoya Fujita <[email protected]>

Revert "relax the test simulation rate for timer canceling tests. (ros2#2453)" (ros2#2456)

This reverts commit 1c350d0.

Signed-off-by: Tomoya Fujita <[email protected]>

enable simulation clock for timer canceling test. (ros2#2458)

* enable simulation clock for timer canceling test.

Signed-off-by: Tomoya Fujita <[email protected]>

* move MainExecutorTypes to test_executors_timer_cancel_behavior.cpp.

Signed-off-by: Tomoya Fujita <[email protected]>

---------

Signed-off-by: Tomoya Fujita <[email protected]>

refactor and improve the parameterized spin_some tests for executors (ros2#2460)

* refactor and improve the spin_some parameterized tests for executors

Signed-off-by: William Woodall <[email protected]>

* disable spin_some_max_duration for the StaticSingleThreadedExecutor and EventsExecutor

Signed-off-by: William Woodall <[email protected]>

* fixup and clarify the docstring for Executor::spin_some()

Signed-off-by: William Woodall <[email protected]>

* style

Signed-off-by: William Woodall <[email protected]>

* review comments

Signed-off-by: William Woodall <[email protected]>

---------

Signed-off-by: William Woodall <[email protected]>

fix spin_some_max_duration unit-test for events-executor (ros2#2465)

Signed-off-by: Alberto Soragna <[email protected]>

Do not generate the exception when action service response timeout. (ros2#2464)

* Do not generate the exception when action service response timeout.

Signed-off-by: Tomoya Fujita <[email protected]>

* address review comment.

Signed-off-by: Tomoya Fujita <[email protected]>

---------

Signed-off-by: Tomoya Fujita <[email protected]>

Changelog.

Signed-off-by: Marco A. Gutierrez <[email protected]>

28.0.0

Signed-off-by: Marco A. Gutierrez <[email protected]>

fix flakiness in TestTimersManager unit-test (ros2#2468)

the previous version of the test was relying on the assumption that a timer with 1ms period gets called at least 6 times if the main thread waits 15ms. this is true most of the times, but it's not guaranteed, especially when running the test on windows CI servers. the new version of the test makes no assumptions on how much time it takes for the timers manager to invoke the timers, but rather focuses on ensuring that they are called the right amount of times, which is what's important for the purpose of the test

Signed-off-by: Alberto Soragna <[email protected]>

Utilize rclcpp::WaitSet as part of the executors (ros2#2142)

* Deprecate callback_group call taking context

Signed-off-by: Michael Carroll <[email protected]>

* Add base executor objects that can be used by implementors

Signed-off-by: Michael Carroll <[email protected]>

* Template common operations

Signed-off-by: Michael Carroll <[email protected]>

* Address reviewer feedback:

* Add callback to EntitiesCollector constructor
* Make function to check automatically added callback groups take a list

Signed-off-by: Michael Carroll <[email protected]>

* Lint

Signed-off-by: Michael Carroll <[email protected]>

* Address reviewer feedback and fix templates

Signed-off-by: Michael Carroll <[email protected]>

* Lint and docs

Signed-off-by: Michael Carroll <[email protected]>

* Make executor own the notify waitable

Signed-off-by: Michael Carroll <[email protected]>

* Add pending queue to collector, remove from waitable

Also change node's get_guard_condition to return shared_ptr

Signed-off-by: Michael Carroll <[email protected]>

* Change interrupt guard condition to shared_ptr

Check if guard condition is valid before adding it to the waitable

Signed-off-by: Michael Carroll <[email protected]>

* Lint and docs

Signed-off-by: Michael Carroll <[email protected]>

* Utilize rclcpp::WaitSet as part of the executors

Signed-off-by: Michael Carroll <[email protected]>

* Don't exchange atomic twice

Signed-off-by: Michael Carroll <[email protected]>

* Fix add_node and add more tests

Signed-off-by: Michael Carroll <[email protected]>

* Make get_notify_guard_condition follow API tick-tock

Signed-off-by: Michael Carroll <[email protected]>

* Improve callback group tick-tocking

Signed-off-by: Michael Carroll <[email protected]>

* Don't lock twice

Signed-off-by: Michael Carroll <[email protected]>

* Address reviewer feedback

Signed-off-by: Michael Carroll <[email protected]>

* Add thread safety annotations and make locks consistent

Signed-off-by: Michael Carroll <[email protected]>

* @wip

Signed-off-by: Michael Carroll <[email protected]>

* Reset callback groups for multithreaded executor

Signed-off-by: Michael Carroll <[email protected]>

* Avoid many small function calls when building executables

Signed-off-by: Michael Carroll <[email protected]>

* Re-trigger guard condition if buffer has data

Signed-off-by: Michael Carroll <[email protected]>

* Address reviewer feedback

Signed-off-by: Michael Carroll <[email protected]>

* Trace points

Signed-off-by: Michael Carroll <[email protected]>

* Remove tracepoints

Signed-off-by: Michael Carroll <[email protected]>

* Reducing diff

Signed-off-by: Michael Carroll <[email protected]>

* Reduce diff

Signed-off-by: Michael Carroll <[email protected]>

* Uncrustify

Signed-off-by: Michael Carroll <[email protected]>

* Restore tests

Signed-off-by: Michael Carroll <[email protected]>

* Back to weak_ptr and reduce test time

Signed-off-by: Michael Carroll <[email protected]>

* reduce diff and lint

Signed-off-by: Michael Carroll <[email protected]>

* Restore static single threaded tests that weren't working before

Signed-off-by: Michael Carroll <[email protected]>

* Restore more tests

Signed-off-by: Michael Carroll <[email protected]>

* Fix multithreaded test

Signed-off-by: Michael Carroll <[email protected]>

* Fix assert

Signed-off-by: Michael Carroll <[email protected]>

* Fix constructor test

Signed-off-by: Michael Carroll <[email protected]>

* Change ready_executables signature back

Signed-off-by: Michael Carroll <[email protected]>

* Don't enforce removing callback groups before nodes

Signed-off-by: Michael Carroll <[email protected]>

* Remove the "add_valid_node" API

Signed-off-by: Michael Carroll <[email protected]>

* Only notify if the trigger condition is valid

Signed-off-by: Michael Carroll <[email protected]>

* Only trigger if valid and needed

Signed-off-by: Michael Carroll <[email protected]>

* Fix spin_some/spin_all implementation

Signed-off-by: Michael Carroll <[email protected]>

* Restore single threaded executor

Signed-off-by: Michael Carroll <[email protected]>

* Picking ABI-incompatible executor changes

Signed-off-by: Michael Carroll <[email protected]>

* Add PIMPL

Signed-off-by: Michael Carroll <[email protected]>

* Additional waitset prune

Signed-off-by: Michael Carroll <[email protected]>

* Fix bad merge

Signed-off-by: Michael Carroll <[email protected]>

* Expand test timeout

Signed-off-by: Michael Carroll <[email protected]>

* Introduce method to clear expired entities from a collection

Signed-off-by: Michael Carroll <[email protected]>

* Make sure to call remove_expired_entities().

Signed-off-by: Chris Lalancette <[email protected]>

* Prune queued work when callback group is removed

Signed-off-by: Michael Carroll <[email protected]>

* Prune subscriptions from dynamic storage

Signed-off-by: Michael Carroll <[email protected]>

* Styles fixes.

Signed-off-by: Chris Lalancette <[email protected]>

* Re-trigger guard conditions

Signed-off-by: Michael Carroll <[email protected]>

* Condense to just use watiable.take_data

Signed-off-by: Michael Carroll <[email protected]>

* Lint

Signed-off-by: Michael Carroll <[email protected]>

* Address reviewer comments (nits)

Signed-off-by: Michael Carroll <[email protected]>

* Lock mutex when copying

Signed-off-by: Michael Carroll <[email protected]>

* Refactors to static single threaded based on reviewers

Signed-off-by: Michael Carroll <[email protected]>

* More small refactoring

Signed-off-by: Michael Carroll <[email protected]>

* Lint

Signed-off-by: Michael Carroll <[email protected]>

* Lint

Signed-off-by: Michael Carroll <[email protected]>

* Add ready executable accessors to WaitResult

Signed-off-by: Michael Carroll <[email protected]>

* Make use of accessors from wait_set

Signed-off-by: Michael Carroll <[email protected]>

* Fix tests

Signed-off-by: Michael Carroll <[email protected]>

* Fix more tests

Signed-off-by: Michael Carroll <[email protected]>

* Tidy up single threaded executor implementation

Signed-off-by: Michael Carroll <[email protected]>

* Don't null out timer, rely on call

Signed-off-by: Michael Carroll <[email protected]>

* change how timers are checked from wait result in executors

Signed-off-by: William Woodall <[email protected]>

* peak -> peek

Signed-off-by: William Woodall <[email protected]>

* fix bug in next_waitable logic

Signed-off-by: William Woodall <[email protected]>

* fix bug in StaticSTE that broke the add callback groups to executor tests

Signed-off-by: William Woodall <[email protected]>

* style

Signed-off-by: William Woodall <[email protected]>

---------

Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: William Woodall <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
Co-authored-by: William Woodall <[email protected]>

update rclcpp::Waitable API to use references and const (ros2#2467)

Signed-off-by: William Woodall <[email protected]>

Add tracepoint for generic publisher/subscriber (ros2#2448)

Signed-off-by: h-suzuki <[email protected]>
This was referenced Apr 12, 2024
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@fujitatomoya fujitatomoya fujitatomoya approved these changes

@jmachowinski jmachowinski jmachowinski approved these changes

@mjcarroll mjcarroll mjcarroll approved these changes

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max_duration not respected in spin_some for StaticSingleThreadedExecutor and EventsExecutor
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@alsora @mjcarroll @clalancette @wjwwood @jmachowinski @fujitatomoya