Python Simple Action Server Deadlock Test

package.xml

@@ -31,4 +31,6 @@
   <run_depend>rospy</run_depend>
   <run_depend>rostest</run_depend>
   <run_depend>std_msgs</run_depend>
+
+  <test_depend>rosnode</test_depend>
 </package>

test/CMakeLists.txt

@@ -62,6 +62,7 @@ add_rostest(test_python_server2.launch)
 add_rostest(test_python_server3.launch)
 add_rostest(test_python_simple_server.launch)
 add_rostest(test_exercise_simple_clients.launch)
+add_rostest(test_simple_action_server_deadlock_python.launch)
 
 catkin_add_gtest(actionlib-destruction_guard_test destruction_guard_test.cpp)
 if(TARGET actionlib-destruction_guard_test)

test/simple_action_server_deadlock_companion.py

@@ -0,0 +1,79 @@
+#! /usr/bin/env python
+#
+# Copyright (c) 2013, Miguel Sarabia
+# Imperial College London
+# 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 Imperial College London 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.
+#
+
+
+class Constants:
+    node = "simple_action_server_deadlock_companion"
+    topic = "deadlock"
+    max_action_duration = 3
+
+import random
+
+import actionlib
+from actionlib.msg import TestAction, TestGoal
+from actionlib_msgs.msg import GoalStatus
+import rospy
+
+
+class DeadlockCompanion:
+
+    def __init__(self):
+        # Seed random with fully resolved name of node and current time
+        random.seed(rospy.get_name() + str(rospy.Time.now().to_sec()))
+
+        # Create actionlib client
+        self.action_client = actionlib.SimpleActionClient(
+            Constants.topic,
+            TestAction)
+
+    def run(self):
+        while not rospy.is_shutdown():
+            # Send dummy goal
+            self.action_client.send_goal(TestGoal())
+
+            # Wait for a random amount of time
+            action_duration = random.uniform(0, Constants.max_action_duration)
+            self.action_client.wait_for_result(rospy.Duration(action_duration))
+
+            state = self.action_client.get_state()
+            if state == GoalStatus.ACTIVE or state == GoalStatus.PENDING:
+                self.action_client.cancel_goal()
+
+
+if __name__ == '__main__':
+    rospy.init_node(Constants.node)
+    try:
+        companion = DeadlockCompanion()
+        companion.run()
+    except (KeyboardInterrupt, SystemExit):
+        raise
+    except:
+        pass

test/test_simple_action_server_deadlock.py

@@ -0,0 +1,125 @@
+#! /usr/bin/env python
+#
+# Copyright (c) 2013, Miguel Sarabia
+# Imperial College London
+# 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 Imperial College London 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.
+#
+
+
+class Constants:
+    pkg = "actionlib"
+    node = "test_simple_action_server_deadlock"
+    topic = "deadlock"
+    deadlock_timeout = 45  # in seconds
+    shutdown_timeout = 2  # in seconds
+    max_action_duration = 3
+
+import random
+import sys
+import threading
+import unittest
+
+import actionlib
+from actionlib.msg import TestAction
+import rosnode
+import rospy
+
+
+class DeadlockTest(unittest.TestCase):
+
+    def test_deadlock(self):
+        # Prepare condition (for safe preemption)
+        self.condition = threading.Condition()
+        self.last_execution_time = None
+
+        # Prepare Simple Action Server
+        self.action_server = actionlib.SimpleActionServer(
+            Constants.topic,
+            TestAction,
+            execute_cb=self.execute_callback,
+            auto_start=False)
+
+        self.action_server.register_preempt_callback(self.preempt_callback)
+        self.action_server.start()
+
+        # Sleep for the amount specified
+        rospy.sleep(Constants.deadlock_timeout)
+
+        # Start actual tests
+        running_nodes = set(rosnode.get_node_names())
+        required_nodes = {
+            "/deadlock_companion_1",
+            "/deadlock_companion_2",
+            "/deadlock_companion_3",
+            "/deadlock_companion_4",
+            "/deadlock_companion_5"}
+
+        self.assertTrue(required_nodes.issubset(running_nodes),
+            "Required companion nodes are not currently running")
+
+        # Shutdown companions so that we can exit nicely
+        termination_time = rospy.Time.now()
+        rosnode.kill_nodes(required_nodes)
+
+        rospy.sleep(Constants.shutdown_timeout)
+
+        # Check last execution wasn't too long ago...
+        self.assertIsNotNone(self.last_execution_time is None,
+            "Execute Callback was never executed")
+
+        time_since_last_execution = (
+            termination_time - self.last_execution_time).to_sec()
+
+        self.assertTrue(
+            time_since_last_execution < 2 * Constants.max_action_duration,
+            "Too long since last goal was executed; likely due to a deadlock")
+
+    def execute_callback(self, goal):
+        # Note down last_execution time
+        self.last_execution_time = rospy.Time.now()
+
+        # Determine duration of this action
+        action_duration = random.uniform(0, Constants.max_action_duration)
+
+        with self.condition:
+            if not self.action_server.is_preempt_requested():
+                self.condition.wait(action_duration)
+
+        if self.action_server.is_preempt_requested():
+            self.action_server.set_preempted()
+        else:
+            self.action_server.set_succeeded()
+
+    def preempt_callback(self):
+        with self.condition:
+            self.condition.notify()
+
+
+if __name__ == '__main__':
+    import rostest
+    rospy.init_node(Constants.node)
+    rostest.rosrun(Constants.pkg, Constants.node, DeadlockTest)

test/test_simple_action_server_deadlock_python.launch

@@ -0,0 +1,11 @@
+<launch>
+    <!-- Companion nodes -->
+    <node pkg="actionlib" type="simple_action_server_deadlock_companion.py" name="deadlock_companion_1" required="false"/>
+    <node pkg="actionlib" type="simple_action_server_deadlock_companion.py" name="deadlock_companion_2" required="false"/>
+    <node pkg="actionlib" type="simple_action_server_deadlock_companion.py" name="deadlock_companion_3" required="false"/>
+    <node pkg="actionlib" type="simple_action_server_deadlock_companion.py" name="deadlock_companion_4" required="false"/>
+    <node pkg="actionlib" type="simple_action_server_deadlock_companion.py" name="deadlock_companion_5" required="false"/>
+
+    <!-- Actual testing node -->
+    <test pkg="actionlib" type="test_simple_action_server_deadlock.py" test-name="test_simple_action_server_deadlock" />
+</launch>