From e0e02a7855a2c8567ee7a5adeb011cf6ba4e0bc9 Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Wed, 4 Sep 2024 16:22:41 -0700
Subject: [PATCH] Service clients freeze on multi-client cases.

  Ref: https://github.com/ros2/rmw/issues/372

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 prover_rclpy/setup.py              |  2 ++
 prover_rclpy/src/rmw_372_client.py | 34 ++++++++++++++++++++++++++++++
 prover_rclpy/src/rmw_372_server.py | 21 ++++++++++++++++++
 3 files changed, 57 insertions(+)
 create mode 100644 prover_rclpy/src/rmw_372_client.py
 create mode 100644 prover_rclpy/src/rmw_372_server.py

diff --git a/prover_rclpy/setup.py b/prover_rclpy/setup.py
index 201b914..6816f32 100644
--- a/prover_rclpy/setup.py
+++ b/prover_rclpy/setup.py
@@ -63,6 +63,8 @@
             'rclpy_bar_940 = src.rclpy_bar_940:main',
             'ros2_1173 = src.ros2_1173:main',
             'ros2_1517 = src.ros2_1517:main',
+            'rmw_372_client = src.rmw_372_client:main',
+            'rmw_372_server = src.rmw_372_server:main',
             'rclpy_1030 = src.rclpy_1030:main',
             'rclpy_1034 = src.rclpy_1034:main',
             'rclpy_1039 = src.rclpy_1039:main',
diff --git a/prover_rclpy/src/rmw_372_client.py b/prover_rclpy/src/rmw_372_client.py
new file mode 100644
index 0000000..f57bab9
--- /dev/null
+++ b/prover_rclpy/src/rmw_372_client.py
@@ -0,0 +1,34 @@
+import rclpy
+from rclpy.node import Node
+from example_interfaces.srv import AddTwoInts
+
+class MinimalClientAsync(Node):
+    def __init__(self):
+        super().__init__('minimal_client_async')
+        self.cli = self.create_client(AddTwoInts, 'add_two_ints')
+        while not self.cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('service not available, waiting again...')
+
+    def send_request(self, a, b):
+        self.req = AddTwoInts.Request()
+        self.req.a = a
+        self.req.b = b
+        self.future = self.cli.call_async(self.req)
+        rclpy.spin_until_future_complete(self, self.future)
+        return self.future.result()
+
+def main(args=None):
+    rclpy.init(args=args)
+    minimal_client = MinimalClientAsync()
+    for i in range(1000000000):
+        response = minimal_client.send_request(1, 2)
+        if i%1000 == 0:
+            minimal_client.get_logger().info(
+                'Result of add_two_ints: for %d + %d = %d' %
+                (1, 2, response.sum))
+
+    minimal_client.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/prover_rclpy/src/rmw_372_server.py b/prover_rclpy/src/rmw_372_server.py
new file mode 100644
index 0000000..0753e12
--- /dev/null
+++ b/prover_rclpy/src/rmw_372_server.py
@@ -0,0 +1,21 @@
+import rclpy
+from rclpy.node import Node
+from example_interfaces.srv import AddTwoInts
+
+class MinimalService(Node):
+    def __init__(self):
+        super().__init__('minimal_service')
+        self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback)
+
+    def add_two_ints_callback(self, request, response):
+        response.sum = request.a + request.b
+        return response
+
+def main(args=None):
+    rclpy.init(args=args)
+    minimal_service = MinimalService()
+    rclpy.spin(minimal_service)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()