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Fix occasional crash during shutdown when explicitly calling ros::sta…
…rt but not ros::shutdown (#2355) * Fix occasional crash during shutdown * add link to PR * comment * fix implementation * add missing hasError = true; * also call deInit * only deInit once * only deinit once * yet more fixes * add another test for init only * revert * preserve legacy behavior * add gtest wrapper * minimize code changes * add test * reduce changes even more * add comment * comment
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| <launch> | ||
| <test test-name="missing_call_to_shutdown" pkg="test_roscpp" type="test_roscpp-missing_call_to_shutdown"/> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| /* | ||
| * Copyright (c) 2008, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| /* Author: David Gossow */ | ||
|
|
||
| #include <gtest/gtest.h> | ||
| #include <cstdlib> | ||
|
|
||
| TEST(roscpp, missingCallToShutdownInitOnly) | ||
| { | ||
| int exit_code = system("rosrun test_roscpp test_roscpp-missing_call_to_shutdown_impl 0"); | ||
| EXPECT_EQ(0, exit_code); | ||
| } | ||
|
|
||
| TEST(roscpp, missingCallToShutdownInitAndStart) | ||
| { | ||
| int exit_code = system("rosrun test_roscpp test_roscpp-missing_call_to_shutdown_impl 1"); | ||
| EXPECT_EQ(0, exit_code); | ||
| } | ||
|
|
||
| int | ||
| main(int argc, char** argv) | ||
| { | ||
| testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |
140 changes: 140 additions & 0 deletions
140
test/test_roscpp/test/src/missing_call_to_shutdown_impl.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,140 @@ | ||
| /* | ||
| * Copyright (c) 2008, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| /* Author: David Gossow */ | ||
|
|
||
| /* | ||
| * Call ros::start() explicitly, but never call ros::shutdown(). | ||
| * ros::shutdown should be called automatically in this case. | ||
| */ | ||
|
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| #include <cstdlib> | ||
| #include <ros/ros.h> | ||
|
|
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| namespace ros | ||
| { | ||
| namespace console | ||
| { | ||
| extern bool g_shutting_down; | ||
| } | ||
| } | ||
|
|
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| namespace | ||
| { | ||
|
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| enum TestId | ||
| { | ||
| InitOnly = 0, | ||
| InitAndStart = 1 | ||
| }; | ||
|
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| TestId test_id = InitOnly; | ||
|
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| void atexitCallback() | ||
| { | ||
| bool hasError = false; | ||
|
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| if (ros::ok()) | ||
| { | ||
| std::cerr << "ERROR: ros::ok() returned true!" << std::endl; | ||
| hasError = true; | ||
| } | ||
| if (!ros::isShuttingDown()) | ||
| { | ||
| std::cerr << "ERROR: ros::isShuttingDown() returned false!" << std::endl; | ||
| hasError = true; | ||
| } | ||
| if (ros::isStarted()) | ||
| { | ||
| std::cerr << "ERROR: ros::isStarted() returned true!" << std::endl; | ||
| hasError = true; | ||
| } | ||
|
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| if (!ros::isInitialized()) | ||
| { | ||
| std::cerr << "ERROR: ros::isInitialized() returned false, although ros::init was called!" << std::endl; | ||
| std::cerr << "Due to legacy reasons, it should return true, even after ROS has been de-initialized." << std::endl; | ||
| hasError = true; | ||
| } | ||
|
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| if (!ros::console::g_shutting_down) | ||
| { | ||
| std::cerr << "ERROR: ros::console::g_shutting_down returned false, but it should have been automatically shut down." << std::endl; | ||
| hasError = true; | ||
| } | ||
|
|
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| if (hasError) | ||
| { | ||
| std::_Exit(1); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| int | ||
| main(int argc, char** argv) | ||
| { | ||
| if ( argc > 1 ) | ||
| { | ||
| test_id = static_cast<TestId>(atoi(argv[1])); | ||
| } | ||
|
|
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| // Register atexit callbak which will be executed after ROS has been de-initialized. | ||
| if (atexit(atexitCallback) != 0) | ||
| { | ||
| std::cerr << "Failed to register atexit callback." << std::endl; | ||
| return 1; | ||
| } | ||
|
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| switch (test_id) | ||
| { | ||
| case InitOnly: | ||
| // Test case 0: Call ros::init() explicitly, but never call ros::shutdown(). | ||
| // ros::deInit should be called automatically in this case. | ||
| ros::init(argc, argv, "missing_call_to_shutdown" ); | ||
| break; | ||
| case InitAndStart: | ||
| // Test case 1: Call ros::init() and ros::start() explicitly, but never call ros::shutdown(). | ||
| // ros::shutdown should be called automatically in this case. | ||
| ros::init(argc, argv, "missing_call_to_shutdown" ); | ||
| ros::start(); | ||
| break; | ||
| default: | ||
| std::cerr << "Invalid test id: " << test_id << std::endl; | ||
| return 1; | ||
| break; | ||
| } | ||
|
|
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| if (!ros::ok()) | ||
| { | ||
| std::cerr << "Failed to start ROS." << std::endl; | ||
| return 1; | ||
| } | ||
|
|
||
| return 0; | ||
| } |
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