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Do not clear entities callbacks on destruction #2002

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merged 4 commits into from
Sep 22, 2022
Merged

Do not clear entities callbacks on destruction #2002

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ee87778
Do not clear entities callbacks on destruction
Aug 24, 2022
86e3b86
Fix CI
Aug 25, 2022
1cc2546
Restore clear_on_ready_callback on ~QOSEventHandlerBase
Sep 20, 2022
40597d7
Add coment on clearing callback for QoS event
Sep 20, 2022
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/client.hpp
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Expand Up @@ -130,7 +130,7 @@ class ClientBase
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);

RCLCPP_PUBLIC
virtual ~ClientBase();
virtual ~ClientBase() = default;

/// Take the next response for this client as a type erased pointer.
/**
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
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Expand Up @@ -52,7 +52,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
{}

RCLCPP_PUBLIC
virtual ~SubscriptionIntraProcessBase();
virtual ~SubscriptionIntraProcessBase() = default;

RCLCPP_PUBLIC
size_t
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/service.hpp
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Expand Up @@ -55,7 +55,7 @@ class ServiceBase
explicit ServiceBase(std::shared_ptr<rcl_node_t> node_handle);

RCLCPP_PUBLIC
virtual ~ServiceBase();
virtual ~ServiceBase() = default;

/// Return the name of the service.
/** \return The name of the service. */
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7 changes: 0 additions & 7 deletions rclcpp/src/rclcpp/client.cpp
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Expand Up @@ -65,13 +65,6 @@ ClientBase::ClientBase(
});
}

ClientBase::~ClientBase()
{
clear_on_new_response_callback();
// Make sure the client handle is destructed as early as possible and before the node handle
client_handle_.reset();
}

bool
ClientBase::take_type_erased_response(void * response_out, rmw_request_id_t & request_header_out)
{
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5 changes: 0 additions & 5 deletions rclcpp/src/rclcpp/publisher_base.cpp
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Expand Up @@ -102,11 +102,6 @@ PublisherBase::PublisherBase(

PublisherBase::~PublisherBase()
{
for (const auto & pair : event_handlers_) {
rcl_publisher_event_type_t event_type = pair.first;
clear_on_new_qos_event_callback(event_type);
}

// must fini the events before fini-ing the publisher
event_handlers_.clear();

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4 changes: 0 additions & 4 deletions rclcpp/src/rclcpp/qos_event.cpp
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Expand Up @@ -35,10 +35,6 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(

QOSEventHandlerBase::~QOSEventHandlerBase()
{
if (on_new_event_callback_) {
clear_on_ready_callback();
}

if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
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4 changes: 0 additions & 4 deletions rclcpp/src/rclcpp/service.cpp
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Expand Up @@ -32,10 +32,6 @@ ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
node_logger_(rclcpp::get_node_logger(node_handle_.get()))
{}

ServiceBase::~ServiceBase()
{
clear_on_new_request_callback();
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std::shared_ptr<rcl_service_t> service_handle_ will be deleted after clear_on_new_request_callback(), right? All member variables are alive in the body of the destructor. So this is something like optimization?

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Yes, usually that's the order. But I found a strange case with lifecycle nodes destruction, where it happens in the opposite order!
Anyway, even if the order were correct, IMO there is no real point in clearing those callbacks.

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i think that this should not be called here, because it might generate the exception in dtor.

see,

https://github.com/ros2/rmw/blob/rolling/rmw/include/rmw/rmw.h#L3118-L3131

if the callback is NULL, as specification, it is supposed to return RMW_RET_INVALID_ARGUMENT.
and eventually rclcpp will generate rclcpp::exceptions::throw_from_rcl_error.

test is pass cz rmw_fastrtps always return RCL_RET_OK. (this is not correct behavior based on the doc.)

if we use RTI Coneext DDS, the test fails as following, because it returns RMW_RET_UNSUPPORTED.

[ RUN      ] TestService.on_new_request_callback
RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only.
Expires on 00-jan-00 See www.rti.com for more information.
[ERROR] [1661535719.598830456] [rmw_connextdds]: rmw_service_set_on_new_request_callback not implemented
unknown file: Failure
C++ exception with description "failed to set the on new request callback for service: rmw_service_set_on_new_request_callback not implemented, at /root/ros2_ws/colcon_ws/src/ros2/rmw_connextdds/rmw_connextdds_common/src/common/rmw_listener.cpp:45" thrown in the test body.
[  FAILED  ] TestService.on_new_request_callback (315 ms)

after all, i think after this PR is merged, we need to re-check the listener rmw implementation and extend test for all rmw tier 1 implementation. what do you think?

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Good, you found a better reason for removing these calls! And yes I agree, tests should be extended for these calls to return the other possible values too. When I found some time I'll add them. You have any other ideas for testing?

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I think we can manage the following with different PR,

  • test all tier 1 rmw implementations with listener APIs for rclcpp (rclpy does not support?)
  • bugfix rmw implementations if necessary, i think rmw_connextdds is the correct implementation.
  • test would be required to adjust accordingly.

}

bool
ServiceBase::take_type_erased_request(void * request_out, rmw_request_id_t & request_id_out)
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7 changes: 0 additions & 7 deletions rclcpp/src/rclcpp/subscription_base.cpp
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Expand Up @@ -87,13 +87,6 @@ SubscriptionBase::SubscriptionBase(

SubscriptionBase::~SubscriptionBase()
{
clear_on_new_message_callback();

for (const auto & pair : event_handlers_) {
rcl_subscription_event_type_t event_type = pair.first;
clear_on_new_qos_event_callback(event_type);
}

if (!use_intra_process_) {
return;
}
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5 changes: 0 additions & 5 deletions rclcpp/src/rclcpp/subscription_intra_process_base.cpp
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Expand Up @@ -17,11 +17,6 @@

using rclcpp::experimental::SubscriptionIntraProcessBase;

SubscriptionIntraProcessBase::~SubscriptionIntraProcessBase()
{
clear_on_ready_callback();
}

void
SubscriptionIntraProcessBase::add_to_wait_set(rcl_wait_set_t * wait_set)
{
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1 change: 0 additions & 1 deletion rclcpp_action/src/client.cpp
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Expand Up @@ -136,7 +136,6 @@ ClientBase::ClientBase(

ClientBase::~ClientBase()
{
clear_on_ready_callback();
}

bool
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1 change: 0 additions & 1 deletion rclcpp_action/src/server.cpp
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Expand Up @@ -132,7 +132,6 @@ ServerBase::ServerBase(

ServerBase::~ServerBase()
{
clear_on_ready_callback();
}

size_t
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