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Fix memory leak in test_subscription_nominal (#469) (#562)

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Narrow scope of subscription to prevent leak and separate nominal test from init/fini test.

Signed-off-by: y-okumura-isp <y-okumura@isp.co.jp>
This commit is contained in:
y-okumura-isp 2020-02-25 01:42:49 +09:00 • committed by GitHub
parent 2563332dc3
commit 25f39c3a48
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 36 additions and 21 deletions
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57
rcl/test/rcl/test_subscription.cpp
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@ -116,33 +116,26 @@ wait_for_subscription_to_be_ready(
success = false;
}
/* Basic nominal test of a subscription.
/* Test subscription init, fini and is_valid functions
*/
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
TEST_F(
CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION),
test_subscription_init_fini_and_is_valid)
{
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "chatter";
const char * expected_topic = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
EXPECT_EQ(strcmp(rcl_subscription_get_topic_name(&subscription), expected_topic), 0);
ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Test is_valid for subscription with nullptr
EXPECT_FALSE(rcl_subscription_is_valid(nullptr));
@ -152,12 +145,34 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
subscription = rcl_get_zero_initialized_subscription();
EXPECT_FALSE(rcl_subscription_is_valid(&subscription));
rcl_reset_error();
}
// Check that valid subscriber is valid
subscription = rcl_get_zero_initialized_subscription();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
/* Basic nominal test of a subscription
*/
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(rcl_subscription_is_valid(&subscription));
});
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_reset_error();
// TODO(wjwwood): add logic to wait for the connection to be established