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Decouple rosout publisher init from node init. #1065

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Merged
fujitatomoya merged 4 commits into from
Sep 22, 2023
Merged

Decouple rosout publisher init from node init. #1065

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cef9193
Decouple rosout publisher init from node init.
Apr 27, 2023
ce0471e
Decouple rosout publisher fini from node fini.
Sep 11, 2023
5abc429
address review comment.
Sep 19, 2023
cefce8a
add node_option check.
Sep 20, 2023
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17 changes: 0 additions & 17 deletions rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -282,16 +282,6 @@ rcl_node_init(
goto fail;
}

// The initialization for the rosout publisher requires the node to be initialized to a point
// that it can create new topic publishers
if (rcl_logging_rosout_enabled() && node->impl->options.enable_rosout) {
ret = rcl_logging_rosout_init_publisher_for_node(node);
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if (ret != RCL_RET_OK) {
// error message already set
goto fail;
}
}

RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized");
TRACETOOLS_TRACEPOINT(
rcl_node_init,
Expand Down Expand Up @@ -363,13 +353,6 @@ rcl_node_fini(rcl_node_t * node)
rcl_allocator_t allocator = node->impl->options.allocator;
rcl_ret_t result = RCL_RET_OK;
rcl_ret_t rcl_ret = RCL_RET_OK;
if (rcl_logging_rosout_enabled() && node->impl->options.enable_rosout) {
rcl_ret = rcl_logging_rosout_fini_publisher_for_node(node);
if (rcl_ret != RCL_RET_OK && rcl_ret != RCL_RET_NOT_INIT) {
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RCL_SET_ERROR_MSG("Unable to fini publisher for node.");
result = RCL_RET_ERROR;
}
}
rcl_ret = rcl_node_type_cache_fini(node);
if (rcl_ret != RCL_RET_OK) {
RCL_SET_ERROR_MSG("Unable to fini type cache for node.");
Expand Down
20 changes: 20 additions & 0 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
#include "rcl/error_handling.h"
#include "rcl/graph.h"
#include "rcl/logging.h"
#include "rcl/logging_rosout.h"
#include "rcl/rcl.h"

#include "rcutils/logging_macros.h"
Expand Down Expand Up @@ -99,6 +100,10 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
const char * name = "test_graph_node";
ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
if (rcl_logging_rosout_enabled() && node_options.enable_rosout) {
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ret = rcl_logging_rosout_init_publisher_for_node(this->node_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

this->wait_set_ptr = new rcl_wait_set_t;
*this->wait_set_ptr = rcl_get_zero_initialized_wait_set();
Expand All @@ -118,6 +123,11 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
delete this->wait_set_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

const rcl_node_options_t * node_ops = rcl_node_get_options(this->node_ptr);
if (rcl_logging_rosout_enabled() && node_ops->enable_rosout) {
ret = rcl_logging_rosout_fini_publisher_for_node(this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -949,6 +959,11 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
remote_node_ptr, remote_node_name, "", this->remote_context_ptr,
&node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
if (rcl_logging_rosout_enabled() && node_options.enable_rosout) {
ret = rcl_logging_rosout_init_publisher_for_node(remote_node_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

sub_func = std::bind(
rcl_get_subscriber_names_and_types_by_node,
std::placeholders::_1,
Expand Down Expand Up @@ -986,6 +1001,11 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
{
rcl_ret_t ret;
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION) ::TearDown();
const rcl_node_options_t * node_ops = rcl_node_get_options(this->remote_node_ptr);
if (rcl_logging_rosout_enabled() && node_ops->enable_rosout) {
ret = rcl_logging_rosout_fini_publisher_for_node(this->remote_node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
ret = rcl_node_fini(this->remote_node_ptr);

delete this->remote_node_ptr;
Expand Down
8 changes: 8 additions & 0 deletions rcl/test/rcl/test_logging_rosout.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,10 @@ class TestLoggingRosout : public ::testing::Test
ret = rcl_node_init(
this->node_ptr, name, namespace_, this->context_ptr, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
if (rcl_logging_rosout_enabled() && node_options.enable_rosout) {
ret = rcl_logging_rosout_init_publisher_for_node(this->node_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// create rosout subscription
const rosidl_message_type_support_t * ts =
Expand All @@ -119,6 +123,10 @@ class TestLoggingRosout : public ::testing::Test
rcl_ret_t ret = rcl_subscription_fini(this->subscription_ptr, this->node_ptr);
delete this->subscription_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
if (rcl_logging_rosout_enabled() && node_options.enable_rosout) {
ret = rcl_logging_rosout_fini_publisher_for_node(this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down