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Move rcl_remap_copy to public header (#709)

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* Add test for remap internal functions
* Add function headers
* Make local function public
* Move rcl_remap_copy to public header

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
This commit is contained in:
Jorge Perez 2020-07-16 13:44:23 -03:00 • committed by Alejandro Hernández Cordero
parent 563a61cbc6
commit 01927e52ac
3 changed files with 66 additions and 53 deletions
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25
rcl/include/rcl/remap.h
View file

@ -247,6 +247,31 @@ rcl_remap_node_namespace(
rcl_allocator_t allocator,
char ** output_namespace);
/// Copy one remap structure into another.
/**
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] rule The structure to be copied.
* Its allocator is used to copy memory into the new structure.
* \param[out] rule_out A zero-initialized rcl_remap_t structure to be copied into.
* \return `RCL_RET_OK` if the structure was copied successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_remap_copy(
const rcl_remap_t * rule,
rcl_remap_t * rule_out);
/// Reclaim resources held inside rcl_remap_t structure.
/**
* <hr>

51
rcl/src/rcl/remap_impl.h
View file

@ -51,57 +51,6 @@ typedef struct rcl_remap_impl_t
rcl_allocator_t allocator;
} rcl_remap_impl_t;
/// Get an rcl_remap_t structure initialized with NULL.
rcl_remap_t
rcl_remap_get_zero_initialized();
/// Copy one remap structure into another.
/**
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] rule The structure to be copied.
* Its allocator is used to copy memory into the new structure.
* \param[out] rule_out A zero-initialized rcl_remap_t structure to be copied into.
* \return `RCL_RET_OK` if the structure was copied successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_remap_copy(
const rcl_remap_t * rule,
rcl_remap_t * rule_out);
/// Reclaim resources used in an rcl_remap_t structure.
/**
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] rule A rule to deallocate back to a zero initialized state.
* \return `RCL_RET_OK` if the structure was free'd, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_NODE_INVALID_NAME` if the name is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_WARN_UNUSED
rcl_ret_t
rcl_remap_fini(
rcl_remap_t * rule);
#ifdef __cplusplus
}
#endif

43
rcl/test/rcl/test_remap.cpp
View file

@ -19,10 +19,9 @@
#include "rcl/remap.h"
#include "rcl/error_handling.h"
#include "./allocator_testing_utils.h"
#include "./arg_macros.hpp"
#include "./arguments_impl.h"
#include "./allocator_testing_utils.h"
#include "./remap_impl.h"
#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@ -574,3 +573,43 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), _rcl_remap_name_bad_arg)
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), internal_remap_use) {
// Easiest way to init a rcl_remap is through the arguments API
const char * argv[] = {
"process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg"
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_allocator_t alloc = rcl_get_default_allocator();
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
// Bad alloc
rcl_remap_t remap_dst = rcl_get_zero_initialized_remap();
parsed_args.impl->remap_rules->impl->allocator = get_failing_allocator();
EXPECT_EQ(RCL_RET_BAD_ALLOC, rcl_remap_copy(parsed_args.impl->remap_rules, &remap_dst));
parsed_args.impl->remap_rules->impl->allocator = alloc;
// Expected usage
EXPECT_EQ(RCL_RET_OK, rcl_remap_copy(parsed_args.impl->remap_rules, &remap_dst));
// Copy twice
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remap_copy(parsed_args.impl->remap_rules, &remap_dst));
rcl_reset_error();
// Fini
EXPECT_EQ(RCL_RET_OK, rcl_remap_fini(&remap_dst));
// Fini twice
EXPECT_EQ(RCL_RET_ERROR, rcl_remap_fini(&remap_dst));
rcl_reset_error();
// Bad fini
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remap_fini(nullptr));
}