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fix race in test_lifecycle_service_client #1204

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Merged
dirk-thomas merged 1 commit into from
Jun 26, 2020
Merged

fix race in test_lifecycle_service_client #1204

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19 changes: 15 additions & 4 deletions rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <gtest/gtest.h>
#include <chrono>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
Expand Down Expand Up @@ -217,21 +218,31 @@ class TestLifecycleServiceClient : public ::testing::Test

void TearDown() override
{
rclcpp::shutdown();
{
std::lock_guard<std::mutex> guard(shutdown_mutex_);
rclcpp::shutdown();
}
spinner_.join();
}

void spin()
{
while (rclcpp::ok()) {
rclcpp::spin_some(lifecycle_node_->get_node_base_interface());
rclcpp::spin_some(lifecycle_client_);
while (true) {
{
std::lock_guard<std::mutex> guard(shutdown_mutex_);
if (!rclcpp::ok()) {
break;
}
rclcpp::spin_some(lifecycle_node_->get_node_base_interface());
rclcpp::spin_some(lifecycle_client_);
}
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}

std::shared_ptr<EmptyLifecycleNode> lifecycle_node_;
std::shared_ptr<LifecycleServiceClient> lifecycle_client_;
std::mutex shutdown_mutex_;
std::thread spinner_;
};

Expand Down