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Topic fix rcl lifecycle test issue (#715) (#796)

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* Fix missing call fini() for lifecycle_transition and node in test_rcl_lifecycle

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Fix error overwritten while allocator is Nullptr.

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Optimize used variables

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

Co-authored-by: Barry Xu <barry.xu@sony.com>
This commit is contained in:
Shane Loretz 2020-09-09 15:25:10 -07:00 • committed by GitHub
parent 474754586c
commit 055d7eba62
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 52 additions and 20 deletions
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40
rcl_lifecycle/test/test_rcl_lifecycle.cpp
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@ -133,14 +133,23 @@ TEST(TestRclLifecycle, lifecycle_transition) {
ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], nullptr, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcutils_reset_error();
ret = rcl_lifecycle_transition_fini(&transition, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcutils_reset_error();
ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], start, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcutils_reset_error();
ret = rcl_lifecycle_transition_fini(&transition, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcutils_reset_error();
start = reinterpret_cast<rcl_lifecycle_state_t *>(
allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state));
*start = rcl_lifecycle_get_zero_initialized_state();
rcl_allocator_t bad_allocator = rcl_get_default_allocator();
bad_allocator.allocate = bad_malloc;
bad_allocator.reallocate = bad_realloc;
@ -190,15 +199,16 @@ TEST(TestRclLifecycle, state_machine) {
ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});
const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
const rosidl_service_type_support_t * cs =
@ -326,6 +336,7 @@ TEST(TestRclLifecycle, state_machine) {
// Node is null
ret = rcl_lifecycle_state_machine_fini(&state_machine, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR);
rcutils_reset_error();
}
TEST(TestRclLifecycle, state_transitions) {
@ -348,15 +359,16 @@ TEST(TestRclLifecycle, state_transitions) {
ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});
const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
const rosidl_service_type_support_t * cs =