Mjcarroll/windows socket exhaustion

ros2cli/ros2cli/node/daemon.py

@@ -77,11 +77,10 @@ def is_daemon_running(args):
 
 def _is_daemon_address_free():
     # Mirror LocalXMLRPCServer.allow_reuse_address: SO_REUSEADDR on
-    # non-Windows so TIME_WAIT doesn't make us falsely report busy.
+    # all platforms so TIME_WAIT doesn't make us falsely report busy.
     try:
         with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-            if os.name != 'nt':
-                s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
             s.bind(daemon.get_address())
         return True
     except socket.error as e:
@@ -140,6 +139,9 @@ def spawn_daemon(args, timeout=None, debug=False):
       `False` if it was already running.
     :raises: if it fails to spawn the daemon.
     """
+    if is_daemon_running(args):
+        return False
+
     # Acquire socket by instantiating XMLRPC server.
     try:
         server = daemon.make_xmlrpc_server()

ros2cli/ros2cli/xmlrpc/local_server.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 import socket
 # Import SimpleXMLRPCRequestHandler to re-export it.
 from xmlrpc.server import SimpleXMLRPCRequestHandler  # noqa
@@ -33,11 +32,8 @@ def get_local_ipaddrs():
 class LocalXMLRPCServer(SimpleXMLRPCServer):
 
     # Allow re-binding even if another server instance was recently bound (i.e. we are still in
-    # TCP TIME_WAIT). This is already the default behavior on Windows, and further SO_REUSEADDR can
-    # lead to undefined behavior on Windows; see
-    # https://learn.microsoft.com/en-us/windows/win32/winsock/using-so-reuseaddr-and-so-exclusiveaddruse.  # noqa
-    # So we don't set the option for Windows.
-    allow_reuse_address = False if os.name == 'nt' else True
+    # TCP TIME_WAIT).
+    allow_reuse_address = True
 
     def verify_request(self, request, client_address):
         if client_address[0] not in get_local_ipaddrs():

ros2cli/test/test_ros2cli_daemon.py

@@ -116,16 +116,19 @@ def noop_execute_callback(goal_handle):
             action_name=TEST_ACTION_NAME,
             execute_callback=noop_execute_callback
         )
-        action_server  # to avoid "assigned by never used" warning
         action_client = rclpy.action.ActionClient(
             node=node,
             action_type=test_msgs.action.Fibonacci,
             action_name=TEST_ACTION_NAME
         )
-        action_client  # to avoid "assigned by never used" warning
 
         yield node
 
+        # Teardown: explicitly destroy the node to make sure that any
+        # lingering middleware resources are freed (specifically sockets)
+        action_client.destroy()
+        action_server.destroy()
+        node.destroy_node()
 
 @pytest.fixture(scope='module')
 def daemon_node():

ros2cli/test/test_strategy.py

@@ -21,19 +21,25 @@
 from ros2cli.node.daemon import spawn_daemon
 from ros2cli.node.strategy import NodeStrategy
 
-
 @pytest.fixture
 def enforce_no_daemon_is_running():
+    # Setup phase: enforce no daemon running
     if is_daemon_running(args=[]):
         assert shutdown_daemon(args=[], timeout=5.0)
     yield
-
+    # Teardown phase: enforce no daemon left over
+    if is_daemon_running(args=[]):
+        assert shutdown_daemon(args=[], timeout=5.0)
 
 @pytest.fixture
 def enforce_daemon_is_running():
+    # Setup phase: enforce the daemon is running
     if not is_daemon_running(args=[]):
         assert spawn_daemon(args=[], timeout=5.0)
     yield
+    # Teardown phase: enforce no daemon left over
+    if is_daemon_running(args=[]):
+        assert shutdown_daemon(args=[], timeout=5.0)
 
 
 def test_with_daemon_running(enforce_daemon_is_running):

ros2multicast/test/test_api.py

@@ -36,15 +36,17 @@ def target():
     t = threading.Thread(target=target)
     t.start()
     time.sleep(0.1)
-    send(sent_data, **tx_kwargs)
-    t.join()
+    try:
+        send(sent_data, **tx_kwargs)
+    finally:
+        t.join()
     return received_data
 
 
 def test_api():
     sent_data = b'test_api'
 
-    rx_kwargs = {'timeout': 1.0}
+    rx_kwargs = {'timeout': 0.2}
     tx_kwargs = {}
 
     assert sent_data == _send_receive(sent_data, rx_kwargs, tx_kwargs)