service_deadlock.cpp
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00001 #include <cstdlib>
00002 #include <gtest/gtest.h>
00003 
00004 #include "ros/ros.h"
00005 #include "std_srvs/Empty.h"
00006 #include <ros/console.h>
00007 #include <ros/poll_manager.h>
00008 
00009 bool dummyService(std_srvs::Empty::Request &, std_srvs::Empty::Request &)
00010 {
00011   return true;
00012 }
00013 
00014 static const char SERVICE1[] = "service1";
00015 
00016 void call(ros::ServiceClient &client)
00017 {
00018   if (client && client.exists() && client.isValid())
00019   {
00020     ROS_INFO("Calling service");
00021     std_srvs::Empty srv;
00022     // these will alternate successful and failed.
00023     if (client.call(srv))
00024       ROS_INFO("  Successful call");
00025     else
00026       ROS_INFO("  Failed to call");
00027   }
00028   else
00029     ROS_INFO("Persistent client is invalid");
00030 }
00031 
00032 // this only verifies that it doesn't deadlock.  Should run about 60 seconds.
00033 TEST(roscpp, ServiceDeadlocking)
00034 {
00035   ros::ServiceClient client;
00036   ros::AsyncSpinner spinner(3);
00037   spinner.start();
00038 
00039   unsigned j = 0;
00040   ros::Time start_time = ros::Time::now();
00041   unsigned seconds = 30;
00042   ros::Time stop_time = start_time + ros::Duration(seconds, 0);
00043 
00044   while (true)
00045   {
00046     if ((j % 500 == 0) && (ros::Time::now() > stop_time))
00047       break;
00048 
00049     {
00050       ros::NodeHandle n2;
00051       ros::ServiceServer service = n2.advertiseService(SERVICE1, dummyService);
00052       client  = n2.serviceClient<std_srvs::Empty>(SERVICE1, true);
00053       call(client);
00054       service.shutdown();
00055     }
00056     ros::NodeHandle n;
00057     ros::ServiceServer service = n.advertiseService(SERVICE1, dummyService);
00058 
00059     call(client);
00060     ++j;
00061   }
00062   ROS_INFO("Made it through %u loops in %u seconds", j, seconds);
00063   ASSERT_GE(j, 1000);
00064 }
00065 
00066 int main(int argc, char **argv)
00067 {
00068   testing::InitGoogleTest(&argc, argv);
00069   ros::init(argc, argv, "service_deadlock");
00070   return RUN_ALL_TESTS();
00071 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Thu Jun 6 2019 21:10:42