sm_coretest_features_1

Core test for the features no other core test reaches: an event generator, CbSequence, a behavior that posts its failure event, and an updatable with an update period. It is not a reference state machine; it exists so this code runs under the sanitizers.

What it does

Six states follow each other and start again. Each sends an outcome it must not see to StTrap, which is terminal and logs TRAP ENTERED.

The last two are the reason for the test’s shape. A CbSequence starts each step from its own thread, and starting a step creates a behavior and signal connections, which take the state machine’s mutex. An exiting state holds that mutex while it joins the sequence’s thread. Before the fix that came with this test, StSequenceCut hung the machine on its first exit, for good and deaf to SIGINT: the sequence started a new step after it had been asked to finish. With that closed, StSequenceCutOnStep still hung it, because the exit began while a step was being started.

Run

ros2 launch sm_coretest_features_1 sm_coretest_features_1.launch.py

The launch file tees the node output to /tmp/sm_coretest_features_1_latest.log.

In the gate

.github/scripts/sanitizer_core_tests.sh runs the machine for 30 s under TSan, ASan and a plain build, then interrupts it at five random moments. It fails if the machine completes fewer than three cycles, if StTrap is entered, if a sequence does not complete or abort once per cycle, if the tick count is not between three and seven per StPeriodic, if a run ends with an uncaught exception or a hang, or on a sanitizer report with a SMACC2 frame.