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Fix actions feedback race #2612

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10 changes: 10 additions & 0 deletions rclcpp_action/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,16 @@ if(BUILD_TESTING)

add_subdirectory(test/benchmark)

ament_add_gtest(test_actions test/test_actions.cpp TIMEOUT 180)
ament_add_test_label(test_actions)
if(TARGET test_actions)
target_link_libraries(test_actions
${PROJECT_NAME}
rclcpp::rclcpp
${test_msgs_TARGETS}
)
endif()

ament_add_gtest(test_client test/test_client.cpp TIMEOUT 180)
ament_add_test_label(test_client mimick)
if(TARGET test_client)
Expand Down
15 changes: 10 additions & 5 deletions rclcpp_action/src/client.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -353,11 +353,11 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)

pimpl_->next_ready_event = std::numeric_limits<size_t>::max();

if (is_feedback_ready) {
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pimpl_->next_ready_event = static_cast<size_t>(EntityType::FeedbackSubscription);
return true;
}

// The following 'if' statements set the priority of execution for different entities.
// The order of priority for action components are:
// Status > Goal Response > Result Response > Cancel Response > Feedback.
// Feedback has the lowest priority, since if the client spins slower than the
// server's feedback rate, it may never process the action results.
if (is_status_ready) {
pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
return true;
Expand All @@ -378,6 +378,11 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)
return true;
}

if (is_feedback_ready) {
pimpl_->next_ready_event = static_cast<size_t>(EntityType::FeedbackSubscription);
return true;
}

return false;
}

Expand Down
295 changes: 295 additions & 0 deletions rclcpp_action/test/test_actions.cpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,295 @@
// Copyright 2024 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.#include <gtest/gtest.h>

#include <gtest/gtest.h>

#include <chrono>
#include <future>
#include <iostream>
#include <memory>
#include <thread>
#include <vector>

#include "test_actions.hpp"

struct actions_test_data_t
{
bool use_events_executor;
bool use_server_ipc;
bool use_client_ipc;
};

class ActionsTest
: public testing::Test,
public testing::WithParamInterface<actions_test_data_t>
{
public:
void SetUp() override
{
test_info = std::make_shared<TestInfo>();
rclcpp::init(0, nullptr);
auto p = GetParam();
std::cout << "Test permutation: "
<< (p.use_events_executor ? "{ EventsExecutor, " : "{ SingleThreadedExecutor, ")
<< (p.use_server_ipc ? "IPC Server, " : "Non-IPC Server, ")
<< (p.use_client_ipc ? "IPC Client }" : "Non-IPC Client }") << std::endl;

executor = test_info->create_executor(p.use_events_executor);
executor_thread = std::thread([&](){executor->spin();});
client_node = test_info->create_node("client_node", p.use_client_ipc);
server_node = test_info->create_node("server_node", p.use_server_ipc);
action_client = test_info->create_action_client(client_node);
action_server = test_info->create_action_server(server_node);
send_goal_options = test_info->create_goal_options();
goal_msg = Fibonacci::Goal();
}

void TearDown() override
{
test_info.reset();
executor->cancel();
if (executor_thread.joinable()) {
executor_thread.join();
}
rclcpp::shutdown();
}

rclcpp::Executor::UniquePtr executor;
std::thread executor_thread;
rclcpp::Node::SharedPtr client_node;
rclcpp::Node::SharedPtr server_node;
rclcpp_action::Client<Fibonacci>::SharedPtr action_client;
rclcpp_action::Server<Fibonacci>::SharedPtr action_server;
rclcpp_action::Client<Fibonacci>::SendGoalOptions send_goal_options;
Fibonacci::Goal goal_msg;
std::shared_ptr<TestInfo> test_info;
};

INSTANTIATE_TEST_SUITE_P(
ActionsTest,
ActionsTest,
testing::Values(
/* <UseEventsExecutor> <ServerIsIntraProcess> <ClientIsIntraProcess> */
actions_test_data_t{false, false, false},
actions_test_data_t{false, false, true},
actions_test_data_t{false, true, false},
actions_test_data_t{false, true, true},
actions_test_data_t{true, false, false},
actions_test_data_t{true, false, true},
actions_test_data_t{true, true, false},
actions_test_data_t{true, true, true}));

TEST_P(ActionsTest, SucceedGoal)
{
executor->add_node(server_node);
executor->add_node(client_node);

bool server_available = action_client->wait_for_action_server(std::chrono::seconds(1));
ASSERT_TRUE(server_available);

auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);
auto accepted_response_wait = goal_handle_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(
accepted_response_wait == std::future_status::ready)
<< "Goal was rejected by server";

auto goal_handle = goal_handle_future.get();
ASSERT_TRUE(goal_handle != nullptr) << "Invalid goal";

auto result_future = action_client->async_get_result(goal_handle);

test_info->succeed_goal();

auto result_wait = result_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(result_wait == std::future_status::ready) << "Goal not completed on time";

auto wrapped_result = result_future.get();
EXPECT_EQ(wrapped_result.code, rclcpp_action::ResultCode::SUCCEEDED);
EXPECT_TRUE(test_info->result_is_correct(
wrapped_result.result->sequence, rclcpp_action::ResultCode::SUCCEEDED));
}

TEST_P(ActionsTest, CancelGoal)
{
executor->add_node(server_node);
executor->add_node(client_node);
send_goal_options.result_callback = nullptr;

bool server_available = action_client->wait_for_action_server(std::chrono::seconds(1));
ASSERT_TRUE(server_available);

auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);
auto accepted_response_wait = goal_handle_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(
accepted_response_wait == std::future_status::ready)
<< "Goal was rejected by server";
auto goal_handle = goal_handle_future.get();
ASSERT_TRUE(goal_handle != nullptr) << "Invalid goal";

auto cancel_result_future = action_client->async_cancel_goal(goal_handle);
auto cancel_response_wait = cancel_result_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(cancel_response_wait == std::future_status::ready) << "Cancel response not on time";
auto cancel_result = cancel_result_future.get();
ASSERT_TRUE(cancel_result != nullptr) << "Invalid cancel result";
EXPECT_NE(cancel_result->return_code, action_msgs::srv::CancelGoal::Response::ERROR_REJECTED);

std::this_thread::sleep_for(std::chrono::milliseconds(10));

auto result_future = action_client->async_get_result(goal_handle);
auto result_response_wait = result_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(
result_response_wait == std::future_status::ready)
<< "Cancel result response not on time";
auto wrapped_result = result_future.get();
EXPECT_EQ(wrapped_result.code, rclcpp_action::ResultCode::CANCELED);
EXPECT_TRUE(test_info->result_is_correct(
wrapped_result.result->sequence, rclcpp_action::ResultCode::CANCELED));
}

TEST_P(ActionsTest, AbortGoal)
{
executor->add_node(server_node);
executor->add_node(client_node);

bool server_available = action_client->wait_for_action_server(std::chrono::seconds(1));
ASSERT_TRUE(server_available);

auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);
auto accepted_response_wait = goal_handle_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(
accepted_response_wait == std::future_status::ready)
<< "Goal was rejected by server";
auto goal_handle = goal_handle_future.get();
ASSERT_TRUE(goal_handle != nullptr) << "Invalid goal";
auto result_future = action_client->async_get_result(goal_handle);

test_info->abort_goal();

auto result_wait = result_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(result_wait == std::future_status::ready) << "Abort response not arrived";
auto wrapped_result = result_future.get();
EXPECT_EQ(wrapped_result.code, rclcpp_action::ResultCode::ABORTED);
EXPECT_TRUE(test_info->result_is_correct(
wrapped_result.result->sequence, rclcpp_action::ResultCode::ABORTED));
}

TEST_P(ActionsTest, TestReject)
{
executor->add_node(server_node);
executor->add_node(client_node);

bool server_available = action_client->wait_for_action_server(std::chrono::seconds(1));
ASSERT_TRUE(server_available);

goal_msg.order = 21; // Goals over 20 rejected

auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);
auto result_wait = goal_handle_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(result_wait == std::future_status::ready) << "Response not arrived";
auto goal_handle = goal_handle_future.get();

ASSERT_TRUE(goal_handle == nullptr);
}

TEST_P(ActionsTest, TestOnReadyCallback)
{
bool server_available = action_client->wait_for_action_server(std::chrono::seconds(1));
ASSERT_TRUE(server_available);

auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);

// Add node: set "on_ready" callback and process the "unread" event
executor->add_node(server_node);

// Give time to server to be executed and generate event into client
std::this_thread::sleep_for(std::chrono::milliseconds(1));

// Add node: set "on_ready" callback and process the "unread" event
executor->add_node(client_node);
auto result_wait = goal_handle_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(result_wait == std::future_status::ready) << "Response not arrived";

auto goal_handle = goal_handle_future.get();
ASSERT_TRUE(goal_handle != nullptr) << "Invalid goal";

auto result_future = action_client->async_get_result(goal_handle);
test_info->succeed_goal();

auto succeed_wait = result_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(succeed_wait == std::future_status::ready) << "Response not arrived";

auto wrapped_result = result_future.get();
EXPECT_EQ(wrapped_result.code, rclcpp_action::ResultCode::SUCCEEDED);
EXPECT_TRUE(test_info->result_is_correct(
wrapped_result.result->sequence, rclcpp_action::ResultCode::SUCCEEDED));
}

TEST_P(ActionsTest, InstantSuccess)
{
executor->add_node(server_node);
executor->add_node(client_node);

// Unset result callback, we want to test having the result before
// having a callback set
send_goal_options.result_callback = nullptr;

bool server_available = action_client->wait_for_action_server(std::chrono::seconds(1));
ASSERT_TRUE(server_available);

auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);
auto result_wait = goal_handle_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(result_wait == std::future_status::ready) << "Response not arrived";

auto goal_handle = goal_handle_future.get();
ASSERT_TRUE(goal_handle != nullptr) << "Invalid goal";

test_info->succeed_goal();

auto result_future = action_client->async_get_result(goal_handle);
auto succeed_wait = result_future.wait_for(std::chrono::seconds(5));
ASSERT_TRUE(succeed_wait == std::future_status::ready) << "Response not arrived";

auto wrapped_result = result_future.get();
EXPECT_EQ(wrapped_result.code, rclcpp_action::ResultCode::SUCCEEDED);
EXPECT_TRUE(test_info->result_is_correct(
wrapped_result.result->sequence, rclcpp_action::ResultCode::SUCCEEDED));
}

// See https://github.com/ros2/rclcpp/issues/2451#issuecomment-1999749919
TEST_P(ActionsTest, FeedbackRace)
{
executor->add_node(server_node);

auto test_params = GetParam();
auto client_executor = test_info->create_executor(test_params.use_events_executor);
client_executor->add_node(client_node);

bool server_available = action_client->wait_for_action_server(std::chrono::seconds(1));
ASSERT_TRUE(server_available);

auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);

// Spin a bit slower than the server's feedback rate
rclcpp::Rate spin_rate(static_cast<double>(test_info->server_rate_hz) * 0.4);

for (size_t i = 0; i < 10 && !test_info->result_callback_called(); i++) {
spin_rate.sleep();
client_executor->spin_some();
if (i == 5) {
test_info->succeed_goal();
}
}

EXPECT_TRUE(test_info->result_callback_called());
}
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