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Save allocator for RCL_CLOCK_UNINITIALIZED clock. (#623)

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* Save allocator when setting uninitialized clock
* Add tests for clock types init/fini
* Remove extra calls to set clock allocator
* Remove tests not related to this PR
* Replace test to make it clearer what is tested in the PR

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
This commit is contained in:
Jorge Perez 2020-04-24 12:50:42 -03:00 • committed by GitHub
parent f18127a089
commit 015f05e1dc
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 8 additions and 10 deletions
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14
rcl/src/rcl/time.c
View file

@ -48,13 +48,14 @@ rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
// Internal method for zeroing values on init, assumes clock is valid // Internal method for zeroing values on init, assumes clock is valid
static void static void
rcl_init_generic_clock(rcl_clock_t * clock) rcl_init_generic_clock(rcl_clock_t * clock, rcl_allocator_t * allocator)
{ {
clock->type = RCL_CLOCK_UNINITIALIZED; clock->type = RCL_CLOCK_UNINITIALIZED;
clock->jump_callbacks = NULL; clock->jump_callbacks = NULL;
clock->num_jump_callbacks = 0u; clock->num_jump_callbacks = 0u;
clock->get_now = NULL; clock->get_now = NULL;
clock->data = NULL; clock->data = NULL;
clock->allocator = *allocator;
} }
// The function used to get the current ros time. // The function used to get the current ros time.
@ -91,7 +92,7 @@ rcl_clock_init(
switch (clock_type) { switch (clock_type) {
case RCL_CLOCK_UNINITIALIZED: case RCL_CLOCK_UNINITIALIZED:
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock); rcl_init_generic_clock(clock, allocator);
return RCL_RET_OK; return RCL_RET_OK;
case RCL_ROS_TIME: case RCL_ROS_TIME:
return rcl_ros_clock_init(clock, allocator); return rcl_ros_clock_init(clock, allocator);
@ -144,7 +145,7 @@ rcl_ros_clock_init(
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock); rcl_init_generic_clock(clock, allocator);
clock->data = allocator->allocate(sizeof(rcl_ros_clock_storage_t), allocator->state); clock->data = allocator->allocate(sizeof(rcl_ros_clock_storage_t), allocator->state);
if (NULL == clock->data) { if (NULL == clock->data) {
RCL_SET_ERROR_MSG("allocating memory failed"); RCL_SET_ERROR_MSG("allocating memory failed");
@ -157,7 +158,6 @@ rcl_ros_clock_init(
storage->active = false; storage->active = false;
clock->get_now = rcl_get_ros_time; clock->get_now = rcl_get_ros_time;
clock->type = RCL_ROS_TIME; clock->type = RCL_ROS_TIME;
clock->allocator = *allocator;
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -186,10 +186,9 @@ rcl_steady_clock_init(
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock); rcl_init_generic_clock(clock, allocator);
clock->get_now = rcl_get_steady_time; clock->get_now = rcl_get_steady_time;
clock->type = RCL_STEADY_TIME; clock->type = RCL_STEADY_TIME;
clock->allocator = *allocator;
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -213,10 +212,9 @@ rcl_system_clock_init(
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock); rcl_init_generic_clock(clock, allocator);
clock->get_now = rcl_get_system_time; clock->get_now = rcl_get_system_time;
clock->type = RCL_SYSTEM_TIME; clock->type = RCL_SYSTEM_TIME;
clock->allocator = *allocator;
return RCL_RET_OK; return RCL_RET_OK;
} }

4
rcl/test/rcl/test_time.cpp
View file

@ -263,11 +263,11 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_clock_instantiation) {
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
{ {
rcl_clock_t uninitialized_clock; rcl_clock_t uninitialized_clock;
rcl_ret_t ret = rcl_clock_init( rcl_ret_t ret = rcl_clock_init(RCL_CLOCK_UNINITIALIZED, &uninitialized_clock, &allocator);
RCL_CLOCK_UNINITIALIZED, &uninitialized_clock, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(uninitialized_clock.type, RCL_CLOCK_UNINITIALIZED) << EXPECT_EQ(uninitialized_clock.type, RCL_CLOCK_UNINITIALIZED) <<
"Expected time source of type RCL_CLOCK_UNINITIALIZED"; "Expected time source of type RCL_CLOCK_UNINITIALIZED";
EXPECT_TRUE(rcutils_allocator_is_valid(&(uninitialized_clock.allocator)));
} }
{ {
rcl_clock_t ros_clock; rcl_clock_t ros_clock;