Revert "call shutdown in LifecycleNode dtor to avoid leaving the device in un… (#2450)" (#2522) (#2524)

This reverts commit 04ea0bb.

(cherry picked from commit 42b0b57)

Co-authored-by: Chris Lalancette <clalancette@gmail.com>

Author: mergify[bot]

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -152,22 +152,6 @@ LifecycleNode::LifecycleNode(
 
 LifecycleNode::~LifecycleNode()
 {
-  // shutdown if necessary to avoid leaving the device in unknown state
-  if (LifecycleNode::get_current_state().id() !=
-    lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
-  {
-    auto ret = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
-    auto finalized = LifecycleNode::shutdown(ret);
-    if (finalized.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED ||
-      ret != rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS)
-    {
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp_lifecycle"),
-        "Shutdown error in destruction of LifecycleNode: final state(%s)",
-        finalized.label().c_str());
-    }
-  }
-
   // release sub-interfaces in an order that allows them to consult with node_base during tear-down
   node_waitables_.reset();
   node_time_source_.reset();

rclcpp_lifecycle/test/test_lifecycle_node.cpp

@@ -447,146 +447,6 @@ TEST_F(TestDefaultStateMachine, bad_mood) {
   EXPECT_EQ(1u, test_node->number_of_callbacks);
 }
 
-
-TEST_F(TestDefaultStateMachine, shutdown_from_each_primary_state) {
-  auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
-
-  // PRIMARY_STATE_UNCONFIGURED to shutdown
-  {
-    auto ret = reset_key;
-    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
-    auto finalized = test_node->shutdown(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
-  }
-
-  // PRIMARY_STATE_INACTIVE to shutdown
-  {
-    auto ret = reset_key;
-    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
-    auto configured = test_node->configure(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
-    ret = reset_key;
-    auto finalized = test_node->shutdown(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
-  }
-
-  // PRIMARY_STATE_ACTIVE to shutdown
-  {
-    auto ret = reset_key;
-    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
-    auto configured = test_node->configure(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
-    ret = reset_key;
-    auto activated = test_node->activate(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
-    ret = reset_key;
-    auto finalized = test_node->shutdown(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
-  }
-
-  // PRIMARY_STATE_FINALIZED to shutdown
-  {
-    auto ret = reset_key;
-    auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
-    auto configured = test_node->configure(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
-    ret = reset_key;
-    auto activated = test_node->activate(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
-    ret = reset_key;
-    auto finalized = test_node->shutdown(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
-    ret = reset_key;
-    auto finalized_again = test_node->shutdown(ret);
-    EXPECT_EQ(reset_key, ret);
-    EXPECT_EQ(finalized_again.id(), State::PRIMARY_STATE_FINALIZED);
-  }
-}
-
-TEST_F(TestDefaultStateMachine, test_shutdown_on_dtor) {
-  auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-  auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
-
-  bool shutdown_cb_called = false;
-  auto on_shutdown_callback =
-    [&shutdown_cb_called](const rclcpp_lifecycle::State &) ->
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn {
-      shutdown_cb_called = true;
-      return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
-    };
-
-  // PRIMARY_STATE_UNCONFIGURED to shutdown via dtor
-  shutdown_cb_called = false;
-  {
-    auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
-    test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
-    EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
-    EXPECT_FALSE(shutdown_cb_called);
-  }
-  EXPECT_TRUE(shutdown_cb_called);
-
-  // PRIMARY_STATE_INACTIVE to shutdown via dtor
-  shutdown_cb_called = false;
-  {
-    auto ret = reset_key;
-    auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
-    test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
-    auto configured = test_node->configure(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
-    EXPECT_FALSE(shutdown_cb_called);
-  }
-  EXPECT_TRUE(shutdown_cb_called);
-
-  // PRIMARY_STATE_ACTIVE to shutdown via dtor
-  shutdown_cb_called = false;
-  {
-    auto ret = reset_key;
-    auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
-    test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
-    auto configured = test_node->configure(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
-    ret = reset_key;
-    auto activated = test_node->activate(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
-    EXPECT_FALSE(shutdown_cb_called);
-  }
-  EXPECT_TRUE(shutdown_cb_called);
-
-  // PRIMARY_STATE_FINALIZED to shutdown via dtor
-  shutdown_cb_called = false;
-  {
-    auto ret = reset_key;
-    auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
-    test_node->register_on_shutdown(std::bind(on_shutdown_callback, std::placeholders::_1));
-    auto configured = test_node->configure(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(configured.id(), State::PRIMARY_STATE_INACTIVE);
-    ret = reset_key;
-    auto activated = test_node->activate(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(activated.id(), State::PRIMARY_STATE_ACTIVE);
-    ret = reset_key;
-    auto finalized = test_node->shutdown(ret);
-    EXPECT_EQ(success, ret);
-    EXPECT_EQ(finalized.id(), State::PRIMARY_STATE_FINALIZED);
-    EXPECT_TRUE(shutdown_cb_called);  // should be called already
-  }
-  EXPECT_TRUE(shutdown_cb_called);
-}
-
 TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
   auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");