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Use rclcpp::GuardCondition in executor
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
1 parent 6e8e157 commit 564993c

3 files changed

Lines changed: 15 additions & 57 deletions

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‎rclcpp/include/rclcpp/executor.hpp‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,6 +31,7 @@
3131
#include "rcl/wait.h"
3232

3333
#include "rclcpp/contexts/default_context.hpp"
34+
#include "rclcpp/guard_condition.hpp"
3435
#include "rclcpp/executor_options.hpp"
3536
#include "rclcpp/future_return_code.hpp"
3637
#include "rclcpp/memory_strategies.hpp"
@@ -525,7 +526,7 @@ class Executor
525526
/// Guard condition for signaling the rmw layer to wake up for special events.
526527
rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
527528

528-
std::shared_ptr<rcl_guard_condition_t> shutdown_guard_condition_;
529+
std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
529530

530531
/// Wait set for managing entities that the rmw layer waits on.
531532
rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();

‎rclcpp/src/rclcpp/executor.cpp‎

Lines changed: 11 additions & 53 deletions
Original file line numberDiff line numberDiff line change
@@ -25,6 +25,7 @@
2525

2626
#include "rclcpp/exceptions.hpp"
2727
#include "rclcpp/executor.hpp"
28+
#include "rclcpp/guard_condition.hpp"
2829
#include "rclcpp/memory_strategy.hpp"
2930
#include "rclcpp/node.hpp"
3031
#include "rclcpp/scope_exit.hpp"
@@ -40,55 +41,9 @@ using rclcpp::Executor;
4041
using rclcpp::ExecutorOptions;
4142
using rclcpp::FutureReturnCode;
4243

43-
namespace
44-
{
45-
46-
std::shared_ptr<rcl_guard_condition_t>
47-
create_shutdown_guard_condition(std::shared_ptr<rclcpp::Context> context)
48-
{
49-
auto custom_deleter = [](rcl_guard_condition_t * guard_condition) {
50-
rcl_ret_t ret = rcl_guard_condition_fini(guard_condition);
51-
if (RCL_RET_OK != ret) {
52-
RCLCPP_ERROR(
53-
rclcpp::get_logger("rclcpp"),
54-
"Failed to finalize shutdown_guard_condition, leaking memory!");
55-
}
56-
};
57-
58-
auto shutdown_guard_condition =
59-
std::shared_ptr<rcl_guard_condition_t>(new rcl_guard_condition_t, custom_deleter);
60-
*shutdown_guard_condition = rcl_get_zero_initialized_guard_condition();
61-
62-
rcl_ret_t ret = rcl_guard_condition_init(
63-
shutdown_guard_condition.get(),
64-
context->get_rcl_context().get(),
65-
rcl_guard_condition_get_default_options());
66-
if (RCL_RET_OK != ret) {
67-
throw_from_rcl_error(ret, "failed to create shutdown guard condition");
68-
}
69-
70-
context->on_shutdown(
71-
[weak_shutdown_guard_condition =
72-
std::weak_ptr<rcl_guard_condition_t>(shutdown_guard_condition)]()
73-
{
74-
auto shared_guard_condition = weak_shutdown_guard_condition.lock();
75-
if (nullptr != shared_guard_condition) {
76-
rcl_ret_t status = rcl_trigger_guard_condition(shared_guard_condition.get());
77-
if (status != RCL_RET_OK) {
78-
RCUTILS_LOG_ERROR_NAMED(
79-
"rclcpp",
80-
"failed to trigger guard condition in Context shutdown callback(): %s",
81-
rcl_get_error_string().str);
82-
}
83-
}
84-
});
85-
return shutdown_guard_condition;
86-
}
87-
88-
} // namespace
89-
9044
Executor::Executor(const rclcpp::ExecutorOptions & options)
9145
: spinning(false),
46+
shutdown_guard_condition_(std::make_shared<rclcpp::GuardCondition>(options.context)),
9247
memory_strategy_(options.memory_strategy)
9348
{
9449
// Store the context for later use.
@@ -101,14 +56,17 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
10156
throw_from_rcl_error(ret, "Failed to create interrupt guard condition in Executor constructor");
10257
}
10358

104-
// Register a shutdown hook for the executor with context
105-
shutdown_guard_condition_ = create_shutdown_guard_condition(context_);
59+
context_->on_shutdown(
60+
[weak_gc = std::weak_ptr<rclcpp::GuardCondition>{shutdown_guard_condition_}]() {
61+
auto strong_gc = weak_gc.lock();
62+
if (strong_gc) {
63+
strong_gc->trigger();
64+
}
65+
});
10666

10767
// The number of guard conditions is always at least 2: 1 for the ctrl-c guard cond,
10868
// and one for the executor's guard cond (interrupt_guard_condition_)
109-
110-
// Put the global ctrl-c guard condition in
111-
memory_strategy_->add_guard_condition(shutdown_guard_condition_.get());
69+
memory_strategy_->add_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
11270

11371
// Put the executor's guard condition in
11472
memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
@@ -179,7 +137,7 @@ Executor::~Executor()
179137
rcl_reset_error();
180138
}
181139
// Remove and release the sigint guard condition
182-
memory_strategy_->remove_guard_condition(shutdown_guard_condition_.get());
140+
memory_strategy_->remove_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
183141
}
184142

185143
std::vector<rclcpp::CallbackGroup::WeakPtr>

‎rclcpp/test/rclcpp/test_executor.cpp‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -90,10 +90,9 @@ MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
9090
TEST_F(TestExecutor, constructor_bad_guard_condition_init) {
9191
auto mock = mocking_utils::patch_and_return(
9292
"lib:rclcpp", rcl_guard_condition_init, RCL_RET_ERROR);
93-
RCLCPP_EXPECT_THROW_EQ(
93+
EXPECT_THROW(
9494
new DummyExecutor(),
95-
std::runtime_error(
96-
"Failed to create interrupt guard condition in Executor constructor: error not set"));
95+
rclcpp::exceptions::RCLError);
9796
}
9897

9998
TEST_F(TestExecutor, constructor_bad_wait_set_init) {

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