service_deadlock.cpp

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#include <cstdlib>
#include <gtest/gtest.h>
 
#include "ros/ros.h"
#include "std_srvs/Empty.h"
#include <ros/console.h>
#include <ros/poll_manager.h>
 
bool dummyService(std_srvs::Empty::Request &, std_srvs::Empty::Request &)
{
  return true;
}
 
static const char SERVICE1[] = "service1";
 
void call(ros::ServiceClient &client)
{
  if (client && client.exists() && client.isValid())
  {
    ROS_INFO("Calling service");
    std_srvs::Empty srv;
    // these will alternate successful and failed.
    if (client.call(srv))
      ROS_INFO("  Successful call");
    else
      ROS_INFO("  Failed to call");
  }
  else
    ROS_INFO("Persistent client is invalid");
}
 
// this only verifies that it doesn't deadlock.  Should run about 60 seconds.
TEST(roscpp, ServiceDeadlocking)
{
  ros::ServiceClient client;
  ros::AsyncSpinner spinner(3);
  spinner.start();
 
  unsigned j = 0;
  ros::Time start_time = ros::Time::now();
  unsigned seconds = 30;
  ros::Time stop_time = start_time + ros::Duration(seconds, 0);
 
  while (true)
  {
    if ((j % 500 == 0) && (ros::Time::now() > stop_time))
      break;
 
    {
      ros::NodeHandle n2;
      ros::ServiceServer service = n2.advertiseService(SERVICE1, dummyService);
      client  = n2.serviceClient<std_srvs::Empty>(SERVICE1, true);
      call(client);
      service.shutdown();
    }
    ros::NodeHandle n;
    ros::ServiceServer service = n.advertiseService(SERVICE1, dummyService);
 
    call(client);
    ++j;
  }
  ROS_INFO("Made it through %u loops in %u seconds", j, seconds);
  ASSERT_GE(j, 1000u);
}
 
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "service_deadlock");
  return RUN_ALL_TESTS();
}