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Merge pull request #21 from ros2/c_typesupport_tests

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C typesupport tests
This commit is contained in:
William Woodall 2016-02-12 01:07:42 -08:00
commit 4ae588f86f
24 changed files with 1163 additions and 447 deletions
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18
rcl/CMakeLists.txt
View file

@ -12,8 +12,8 @@ find_package(rosidl_generator_c REQUIRED)
include_directories(include)
if(NOT WIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
endif()
set(${PROJECT_NAME}_sources
@ -47,10 +47,17 @@ macro(target)
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
# the librcl that they link against is on the library path.
# This is especially important on Windows.
# This is overwritten each loop, but which one it points to doesn't really matter.
set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}${target_suffix}>")
endmacro()
call_for_each_rmw_implementation(target GENERATE_DEFAULT)
ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl_interfaces)
ament_export_dependencies(rmw)
ament_export_dependencies(rmw_implementation)
@ -67,7 +74,14 @@ if(AMENT_ENABLE_TESTING)
add_subdirectory(test)
endif()
ament_package()
ament_package(
CONFIG_EXTRAS rcl-extras.cmake
)
install(
DIRECTORY cmake
DESTINATION share/${PROJECT_NAME}
)
install(
DIRECTORY include/

90
rcl/cmake/get_rcl_information.cmake Normal file
View file

@ -0,0 +1,90 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Get all information about rcl for a specific RMW implementation.
#
# It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES
# with the given prefix.
#
# :param rmw_implementation: the RMW implementation name
# :type target: string
# :param var_prefix: the prefix of all output variable names
# :type var_prefix: string
#
# Copy/pasted from rclcpp/cmake/get_rclcpp_information.cmake.
# Code duplication is evil. Don't do this at home, kids.
macro(get_rcl_information rmw_implementation var_prefix)
# pretend to be a "package"
# so that the variables can be used by various functions / macros
set(${var_prefix}_FOUND TRUE)
# include directories
normalize_path(${var_prefix}_INCLUDE_DIRS "${rcl_DIR}/../../../include")
# libraries
set(_libs)
# search for library relative to this CMake file
set(_library_target "rcl")
get_available_rmw_implementations(_rmw_impls)
list(LENGTH _rmw_impls _rmw_impls_length)
if(_rmw_impls_length GREATER 1)
set(_library_target "${_library_target}__${rmw_implementation}")
endif()
set(_lib "NOTFOUND")
find_library(
_lib NAMES "${_library_target}"
PATHS "${rcl_DIR}/../../../lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
)
if(NOT _lib)
# warn about not existing library and ignore it
message(WARNING "Package 'rcl' doesn't contain the library '${_library_target}'")
elseif(NOT IS_ABSOLUTE "${_lib}")
# the found library must be an absolute path
message(FATAL_ERROR "Package 'rcl' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
elseif(NOT EXISTS "${_lib}")
# the found library must exist
message(FATAL_ERROR "Package 'rcl' found the library '${_lib}' which doesn't exist")
else()
list(APPEND _libs "${_lib}")
endif()
# dependencies
set(_exported_dependencies
"rcl_interfaces"
"rmw"
"${rmw_implementation}"
"rosidl_generator_c")
set(${var_prefix}_DEFINITIONS)
foreach(_dep ${_exported_dependencies})
if(NOT ${_dep}_FOUND)
find_package("${_dep}" QUIET REQUIRED)
endif()
if(${_dep}_DEFINITIONS)
list_append_unique(${var_prefix}_DEFINITIONS "${${_dep}_DEFINITIONS}")
endif()
if(${_dep}_INCLUDE_DIRS)
list_append_unique(${var_prefix}_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
endif()
if(${_dep}_LIBRARIES)
list(APPEND _libs "${${_dep}_LIBRARIES}")
endif()
endforeach()
if(_libs)
ament_libraries_deduplicate(_libs "${_libs}")
endif()
set(${var_prefix}_LIBRARIES "${_libs}")
endmacro()

1
rcl/include/rcl/rcl.h
View file

@ -25,6 +25,7 @@ extern "C"
#include "rcl/publisher.h"
#include "rcl/subscription.h"
#include "rcl/types.h"
#include "rcl/wait.h"
#include "rcl/visibility_control.h"
/// Global initialization of rcl.

453
rcl/include/rcl/time.h
View file

@ -24,15 +24,14 @@ extern "C"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
#define RCL_S_TO_NS(seconds) (seconds * 1000 * 1000 * 1000)
#define RCL_MS_TO_NS(milliseconds) (milliseconds * 1000 * 1000)
#define RCL_S_TO_NS(seconds) (seconds * (1000 * 1000 * 1000))
#define RCL_MS_TO_NS(milliseconds) (milliseconds * (1000 * 1000))
#define RCL_US_TO_NS(microseconds) (microseconds * 1000)
#define RCL_NS_TO_S(nanoseconds) (nanoseconds / (1000 * 1000 * 1000))
#define RCL_NS_TO_MS(nanoseconds) (nanoseconds / (1000 * 1000))
#define RCL_NS_TO_US(nanoseconds) (nanoseconds / 1000)
enum rcl_time_source_type_t
{
RCL_TIME_SOURCE_UNINITIALIZED = 0,
@ -77,324 +76,344 @@ typedef struct rcl_duration_t
/// Check if the time_source has valid values.
/* This function returns true if the time source appears to be valid.
* It will check that the type is not uninitialized, and that pointers
* are not invalid. Note that if data is uninitialized it may give a
* false positive.
*
* \param[in] time_source the handle to the time_source which is being queried
* \return true if the source is believed to be valid, otherwise return false.
*/
* It will check that the type is not uninitialized, and that pointers
* are not invalid.
* Note that if data is uninitialized it may give a false positive.
*
* \param[in] time_source the handle to the time_source which is being queried
* \return true if the source is believed to be valid, otherwise return false.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
bool rcl_time_source_valid(rcl_time_source_t * time_source);
bool
rcl_time_source_valid(rcl_time_source_t * time_source);
/// Initialize a timesource as a RCL_ROS_TIME time source.
/* This will allocate all necessary internal structures, and initialize variables.
* It is specifically setting up a RCL_ROS_TIME time source.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully initialized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* It is specifically setting up a RCL_ROS_TIME time source.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully initialized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source);
rcl_ret_t
rcl_init_ros_time_source(rcl_time_source_t * time_source);
/// Finalize a timesource as a RCL_ROS_TIME time source.
/* This will deallocate all necessary internal structures, and clean up any variables.
* It is specifically setting up a RCL_ROS_TIME time source. It is expected to be paired with
* the init fuction.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully finalized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* It is specifically setting up a RCL_ROS_TIME time source. It is expected to be paired with
* the init fuction.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully finalized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source);
rcl_ret_t
rcl_fini_ros_time_source(rcl_time_source_t * time_source);
/// Initialize a timesource as a RCL_STEADY_TIME time source.
/* This will allocate all necessary internal structures, and initialize variables.
* It is specifically setting up a RCL_STEADY_TIME time source.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully initialized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* It is specifically setting up a RCL_STEADY_TIME time source.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully initialized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source);
rcl_ret_t
rcl_init_steady_time_source(rcl_time_source_t * time_source);
/// Finalize a timesource as a RCL_STEADY_TIME time source.
/* Finalize the timesource as a RCL_STEADY_TIME time source.
*
* This will deallocate all necessary internal structures, and clean up any variables.
* It is specifically setting up a steady time source. It is expected to be paired with
* the init fuction.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully finalized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
*
* This will deallocate all necessary internal structures, and clean up any variables.
* It is specifically setting up a steady time source. It is expected to be paired with
* the init fuction.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully finalized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source);
rcl_ret_t
rcl_fini_steady_time_source(rcl_time_source_t * time_source);
/// Initialize a timesource as a RCL_SYSTEM_TIME time source.
/* Initialize the timesource as a RCL_SYSTEM_TIME time source.
*
* This will allocate all necessary internal structures, and initialize variables.
* It is specifically setting up a system time source.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully initialized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
*
* This will allocate all necessary internal structures, and initialize variables.
* It is specifically setting up a system time source.
*
* \param[in] time_source the handle to the time_source which is being initialized
* \return RCL_RET_OK if the time source was successfully initialized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_init_system_time_source(rcl_time_source_t * time_source);
rcl_ret_t
rcl_init_system_time_source(rcl_time_source_t * time_source);
/// Finalize a timesource as a RCL_SYSTEM_TIME time source.
/* Finalize the timesource as a RCL_SYSTEM_TIME time source.
*
* This will deallocate all necessary internal structures, and clean up any variables.
* It is specifically setting up a system time source. It is expected to be paired with
* the init fuction.
*
* \param[in] time_source the handle to the time_source which is being initialized.
* \return RCL_RET_OK if the time source was successfully finalized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
*
* This will deallocate all necessary internal structures, and clean up any variables.
* It is specifically setting up a system time source. It is expected to be paired with
* the init fuction.
*
* \param[in] time_source the handle to the time_source which is being initialized.
* \return RCL_RET_OK if the time source was successfully finalized, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source);
rcl_ret_t
rcl_fini_system_time_source(rcl_time_source_t * time_source);
/// Initialize a time point using the time_source.
/* This function will initialize the time_point using the time_source
* as a reference.
* If the time_source is null it will use the system default time_source.
*
* This will allocate all necessary internal structures, and initialize variables.
* The time_source may be of types RCL_ROS_TIME, RCL_STEADY_TIME, or RCL_SYSTEM_TIME.
*
* \param[in] time_point the handle to the time_source which is being initialized.
* \param[in] time_source the handle to the time_source will be used for reference.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* as a reference.
* If the time_source is null it will use the system default time_source.
*
* This will allocate all necessary internal structures, and initialize variables.
* The time_source may be of types RCL_ROS_TIME, RCL_STEADY_TIME, or RCL_SYSTEM_TIME.
*
* \param[in] time_point the handle to the time_source which is being initialized.
* \param[in] time_source the handle to the time_source will be used for reference.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source);
rcl_ret_t
rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source);
/// Finalize a time_point
/* Finalize the time_point such that it is ready for deallocation.
*
* This will deallocate all necessary internal structures, and clean up any variables.
* *
* \param[in] time_point the handle to the time_source which is being finalized.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
*
* This will deallocate all necessary internal structures, and clean up any variables.
*
* \param[in] time_point the handle to the time_source which is being finalized.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_fini_time_point(rcl_time_point_t * time_point);
rcl_ret_t
rcl_fini_time_point(rcl_time_point_t * time_point);
/// Initialize a duration using the time_source.
/* This function will initialize the duration using the time_source
* as a reference.
* If the time_source is null it will use the system default time_source.
*
* This will allocate all necessary internal structures, and initialize variables.
* The time_source may be of types ros, steady, or system.
*
* \param[in] duration the handle to the duration which is being initialized.
* \param[in] time_source the handle to the time_source will be used for reference.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
/* This function will initialize the duration using the time_source as a reference.
* If the time_source is null it will use the system default time_source.
*
* This will allocate all necessary internal structures, and initialize variables.
* The time_source may be of types ros, steady, or system.
*
* \param[in] duration the handle to the duration which is being initialized.
* \param[in] time_source the handle to the time_source will be used for reference.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);
rcl_ret_t
rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);
/// Finalize a duration
/* Finalize the duration such that it is ready for deallocation.
*
* This will deallocate all necessary internal structures, and clean up any variables.
* *
* \param[in] duration the handle to the duration which is being finalized.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
*
* This will deallocate all necessary internal structures, and clean up any variables.
*
* \param[in] duration the handle to the duration which is being finalized.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_fini_duration(rcl_duration_t * duration);
rcl_ret_t
rcl_fini_duration(rcl_duration_t * duration);
/// Get the default RCL_ROS_TIME time source
/* This function will get the process default time source.
* This time source is specifically of the ROS time abstraction,
* and may be overridden by updates.
*
* If the default has not yet been used it will allocate
* and initialize the time source.
*
* \return rcl_time_source_t if it successfully found or allocated a
time source. If an error occurred it will return NULL.
*/
* This time source is specifically of the ROS time abstraction,
* and may be overridden by updates.
*
* If the default has not yet been used it will allocate
* and initialize the time source.
*
* \return rcl_time_source_t if it successfully found or allocated a
* time source. If an error occurred it will return NULL.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_time_source_t * rcl_get_default_ros_time_source(void);
rcl_time_source_t *
rcl_get_default_ros_time_source(void);
/// Get the default RCL_STEADY_TIME time source
/* This function will get the process default time source.
* This time source is specifically of the steady time abstraction,
* it should not be able to be overridden..
*
* If the default has not yet been used it will allocate
* and initialize the time source.
*
* \return rcl_time_source_t if it successfully found or allocated a
time source. If an error occurred it will return NULL.
*/
* This time source is specifically of the steady time abstraction,
* it should not be able to be overridden..
*
* If the default has not yet been used it will allocate
* and initialize the time source.
*
* \return rcl_time_source_t if it successfully found or allocated a
* time source. If an error occurred it will return NULL.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_time_source_t * rcl_get_default_steady_time_source(void);
rcl_time_source_t *
rcl_get_default_steady_time_source(void);
/// Get the default RCL_SYSTEM_TIME time source
/* This function will get the process default time source.
* This time source is specifically of the system time abstraction,
* and may be overridden by updates to the system clock.
*
* If the default has not yet been used it will allocate
* and initialize the time source.
*
* \return rcl_time_source_t if it successfully found or allocated a
time source. If an error occurred it will return NULL.
*/
* This time source is specifically of the system time abstraction,
* and may be overridden by updates to the system clock.
*
* If the default has not yet been used it will allocate
* and initialize the time source.
*
* \return rcl_time_source_t if it successfully found or allocated a
* time source. If an error occurred it will return NULL.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_time_source_t * rcl_get_default_system_time_source(void);
rcl_time_source_t *
rcl_get_default_system_time_source(void);
/// Set the current time on the RCL_ROS_TIME time source
/* This function is used to set the time on a ros time source.
* It will error if passed a differnt time source.
*
* This should not block, except on Windows. One caveat is that
* if the ros time abstraction is active, it will invoke the user
* defined callbacks, for pre and post update notifications. The
* calbacks are supposed to be short running and non-blocking.
*
* \param[in] process_time_source The time source on which to set the value.
* \return RCL_RET_OK if the value was set successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* It will error if passed a differnt time source.
*
* This should not block, except on Windows. One caveat is that
* if the ros time abstraction is active, it will invoke the user
* defined callbacks, for pre and post update notifications. The
* calbacks are supposed to be short running and non-blocking.
*
* \param[in] process_time_source The time source on which to set the value.
* \return RCL_RET_OK if the value was set successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
rcl_ret_t
rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
/// Compute the difference between two time points
/* This function takes two time points and computes the duration between them.
* The two time points must be using the same time abstraction..
* And the resultant duration will also be of the same abstraction.
*
* The value will be computed as duration = finish - start. If start is after
* finish the duration will be negative.
*
* \param[in] start The time point for the start of the duration.
* \param[in] finish The time point for the end of the duration.
* \param[out] delta The duration between the start and finish.
* \return RCL_RET_OK if the difference was computed successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* The two time points must be using the same time abstraction, and the
* resultant duration will also be of the same abstraction.
*
* The value will be computed as duration = finish - start. If start is after
* finish the duration will be negative.
*
* \param[in] start The time point for the start of the duration.
* \param[in] finish The time point for the end of the duration.
* \param[out] delta The duration between the start and finish.
* \return RCL_RET_OK if the difference was computed successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
rcl_ret_t
rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
rcl_duration_t * delta);
/// Fill the time point with the current value of the associated clock.
/* This function will populate the data of the time_point object with the
* current value from it's associated time abstraction.
*
* \param[out] time_point The time_point to populate.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* current value from it's associated time abstraction.
*
* \param[out] time_point The time_point to populate.
* \return RCL_RET_OK if the last call time was retrieved successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point);
rcl_ret_t
rcl_get_time_point_now(rcl_time_point_t * time_point);
/// Enable the ros time abstraction override.
/* This method will enable the ros time abstraction override values,
* such that the time source will report the set value instead of falling
* back to system time.
*
* \param[in] time_source The time_source to enable.
* \return RCL_RET_OK if the time source was enabled successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* such that the time source will report the set value instead of falling
* back to system time.
*
* \param[in] time_source The time_source to enable.
* \return RCL_RET_OK if the time source was enabled successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source);
rcl_ret_t
rcl_enable_ros_time_override(rcl_time_source_t * time_source);
/// Disable the ros time abstraction override.
/* This method will disable the RCL_ROS_TIME time abstraction override values,
* such that the time source will report the system time even if a custom
* value has been set.
*
* \param[in] time_source The time_source to disable.
* \return RCL_RET_OK if the time source was disabled successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* such that the time source will report the system time even if a custom
* value has been set.
*
* \param[in] time_source The time_source to disable.
* \return RCL_RET_OK if the time source was disabled successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source);
rcl_ret_t
rcl_disable_ros_time_override(rcl_time_source_t * time_source);
/// Check if the RCL_ROS_TIME time source has the override enabled.
/* This will populate the is_enabled object to indicate if the
* time overide is enabled. If it is enabled, the set value will be returned.
* Otherwise this time source will return the equivalent to system time abstraction.
*
* \param[in] time_source The time_source to query.
* \param[out] is_enabled Whether the override is enabled..
* \return RCL_RET_OK if the time source was queried successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* time overide is enabled. If it is enabled, the set value will be returned.
* Otherwise this time source will return the equivalent to system time abstraction.
*
* \param[in] time_source The time_source to query.
* \param[out] is_enabled Whether the override is enabled..
* \return RCL_RET_OK if the time source was queried successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
rcl_ret_t
rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
bool * is_enabled);
/// Set the current time for this RCL_ROS_TIME time source.
/* This function will update the internal storage for the RCL_ROS_TIME time source.
* If queried and override enabled the time source will return this value,
* otherwise it will return the system time.
*
* \param[in] time_source The time_source to update.
* \param[in] time_value The new current time.
* \return RCL_RET_OK if the time source was set successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
* If queried and override enabled the time source will return this value,
* otherwise it will return the system time.
*
* \param[in] time_source The time_source to update.
* \param[in] time_value The new current time.
* \return RCL_RET_OK if the time source was set successfully, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
rcl_ret_t
rcl_set_ros_time_override(rcl_time_source_t * time_source,
rcl_time_point_value_t time_value);
/// Retrieve the current time as a rcl_time_point_value_t (an alias for unint64_t).
@ -412,7 +431,7 @@ rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
* On Windows this is lock-free if the C11's stdatomic.h function
* atomic_is_lock_free() returns true for atomic_int_least64_t.
*
* TODO(tfoote) I talked with @wjwwood about possibly promoting this
* TODO(tfoote): I talked with @wjwwood about possibly promoting this
* method into rmw for more reuse.
*
* \param[out] now a datafield in which the current time is stored

4
rcl/include/rcl/wait.h
View file

@ -79,6 +79,8 @@ rcl_get_zero_initialized_wait_set(void);
* ret = rcl_wait_set_fini(&wait_set);
* // ... error handling
*
* \TODO(wjwwood): consider the "fixed guard conditions", a la rmw's wait set.
*
* This function is thread-safe for different wait_set objects.
* Thread-safety of this function requires a thread-safe allocator if the
* allocator is shared with other parts of the system.
@ -297,7 +299,7 @@ rcl_wait_set_resize_timers(rcl_wait_set_t * wait_set, size_t size);
* rcl_subscription_t sub2; // initialize this, see rcl_subscription_init()
* rcl_guard_condition_t gc1; // initialize this, see rcl_guard_condition_init()
* rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
* rcl_ret_t ret = rcl_wait_set_init(&wait_set, 2, 1, rcl_get_default_allocator());
* rcl_ret_t ret = rcl_wait_set_init(&wait_set, 2, 1, 0, rcl_get_default_allocator());
* // ... error handling
* do {
* ret = rcl_wait_set_clear_subscriptions(&wait_set);

2
rcl/package.xml
View file

@ -18,6 +18,7 @@
<build_export_depend>rcl_interfaces</build_export_depend>
<build_export_depend>rosidl_generator_c</build_export_depend>
<exec_depend>ament_cmake</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<depend>rmw_implementation</depend>
@ -26,6 +27,7 @@
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>rmw</test_depend>
<test_depend>std_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>

17
rcl/rcl-extras.cmake Normal file
View file

@ -0,0 +1,17 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# copied from rcl/rcl-extras.cmake
include("${rcl_DIR}/get_rcl_information.cmake")

4
rcl/src/rcl/publisher.c
View file

@ -48,6 +48,10 @@ rcl_publisher_init(
rcl_ret_t fail_ret = RCL_RET_ERROR;
RCL_CHECK_ARGUMENT_FOR_NULL(publisher, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
if (!node->impl) {
RCL_SET_ERROR_MSG("invalid node");
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);

98
rcl/src/rcl/time.c
View file

@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdbool.h>
#include <stdlib.h>
#if defined(WIN32)
@ -27,9 +28,8 @@ static rcl_time_source_t * rcl_default_ros_time_source;
static rcl_time_source_t * rcl_default_steady_time_source;
static rcl_time_source_t * rcl_default_system_time_source;
// Internal storage for RCL_ROS_TIME implementation
typedef struct
typedef struct rcl_ros_time_source_storage_t
{
atomic_uint_least64_t current_time;
bool active;
@ -37,21 +37,24 @@ typedef struct
} rcl_ros_time_source_storage_t;
// Implementation only
rcl_ret_t rcl_get_steady_time(void * data, rcl_time_point_value_t * current_time)
rcl_ret_t
rcl_get_steady_time(void * data, rcl_time_point_value_t * current_time)
{
(void) data; // unused
(void)data; // unused
return rcl_steady_time_now(current_time);
}
// Implementation only
rcl_ret_t rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
rcl_ret_t
rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
{
(void) data; // unused
(void)data; // unused
return rcl_system_time_now(current_time);
}
// Internal method for zeroing values on init, assumes time_source is valid
void rcl_init_generic_time_source(rcl_time_source_t * time_source)
void
rcl_init_generic_time_source(rcl_time_source_t * time_source)
{
time_source->type = RCL_TIME_SOURCE_UNINITIALIZED;
time_source->pre_update = NULL;
@ -62,7 +65,8 @@ void rcl_init_generic_time_source(rcl_time_source_t * time_source)
// The function used to get the current ros time.
// This is in the implementation only
rcl_ret_t rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
rcl_ret_t
rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
{
rcl_ros_time_source_storage_t * t = (rcl_ros_time_source_storage_t *)data;
if (!t->active) {
@ -72,7 +76,8 @@ rcl_ret_t rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
return RCL_RET_OK;
}
bool rcl_time_source_valid(rcl_time_source_t * time_source)
bool
rcl_time_source_valid(rcl_time_source_t * time_source)
{
if (time_source == NULL ||
time_source->type == RCL_TIME_SOURCE_UNINITIALIZED ||
@ -83,7 +88,8 @@ bool rcl_time_source_valid(rcl_time_source_t * time_source)
return true;
}
rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source)
rcl_ret_t
rcl_init_ros_time_source(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_time_source(time_source);
@ -93,7 +99,8 @@ rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source)
return RCL_RET_OK;
}
rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source)
rcl_ret_t
rcl_fini_ros_time_source(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
if (time_source->type != RCL_ROS_TIME) {
@ -104,7 +111,8 @@ rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source)
return RCL_RET_OK;
}
rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source)
rcl_ret_t
rcl_init_steady_time_source(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_time_source(time_source);
@ -113,7 +121,8 @@ rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source)
return RCL_RET_OK;
}
rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source)
rcl_ret_t
rcl_fini_steady_time_source(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
if (time_source->type != RCL_STEADY_TIME) {
@ -123,19 +132,18 @@ rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source)
return RCL_RET_OK;
}
rcl_ret_t rcl_init_system_time_source(rcl_time_source_t * time_source)
rcl_ret_t
rcl_init_system_time_source(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_time_source(time_source);
time_source->get_now = rcl_get_system_time;
time_source->type = RCL_SYSTEM_TIME;
if (!time_source) {
return RCL_RET_ERROR;
}
return RCL_RET_OK;
}
rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source)
rcl_ret_t
rcl_fini_system_time_source(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
if (time_source->type != RCL_SYSTEM_TIME) {
@ -145,7 +153,8 @@ rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source)
return RCL_RET_OK;
}
rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source)
rcl_ret_t
rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT);
if (!time_source) {
@ -157,14 +166,16 @@ rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t *
return RCL_RET_OK;
}
rcl_ret_t rcl_fini_time_point(rcl_time_point_t * time_point)
rcl_ret_t
rcl_fini_time_point(rcl_time_point_t * time_point)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT);
(void) time_point;
(void)time_point;
return RCL_RET_OK;
}
rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source)
rcl_ret_t
rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT);
if (!time_source) {
@ -176,17 +187,19 @@ rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_
return RCL_RET_OK;
}
rcl_ret_t rcl_fini_duration(rcl_duration_t * duration)
rcl_ret_t
rcl_fini_duration(rcl_duration_t * duration)
{
RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT);
(void) duration;
(void)duration;
return RCL_RET_OK;
}
rcl_time_source_t * rcl_get_default_ros_time_source(void)
rcl_time_source_t *
rcl_get_default_ros_time_source(void)
{
if (!rcl_default_ros_time_source) {
rcl_default_ros_time_source = calloc(1, sizeof(rcl_time_source_t));
rcl_default_ros_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
rcl_ret_t retval = rcl_init_ros_time_source(rcl_default_ros_time_source);
if (retval != RCL_RET_OK) {
return NULL;
@ -195,10 +208,11 @@ rcl_time_source_t * rcl_get_default_ros_time_source(void)
return rcl_default_ros_time_source;
}
rcl_time_source_t * rcl_get_default_steady_time_source(void)
rcl_time_source_t *
rcl_get_default_steady_time_source(void)
{
if (!rcl_default_steady_time_source) {
rcl_default_steady_time_source = calloc(1, sizeof(rcl_time_source_t));
rcl_default_steady_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
rcl_ret_t retval = rcl_init_steady_time_source(rcl_default_steady_time_source);
if (retval != RCL_RET_OK) {
return NULL;
@ -207,10 +221,11 @@ rcl_time_source_t * rcl_get_default_steady_time_source(void)
return rcl_default_steady_time_source;
}
rcl_time_source_t * rcl_get_default_system_time_source(void)
rcl_time_source_t *
rcl_get_default_system_time_source(void)
{
if (!rcl_default_system_time_source) {
rcl_default_system_time_source = calloc(1, sizeof(rcl_time_source_t));
rcl_default_system_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
rcl_ret_t retval = rcl_init_system_time_source(rcl_default_system_time_source);
if (retval != RCL_RET_OK) {
return NULL;
@ -219,7 +234,8 @@ rcl_time_source_t * rcl_get_default_system_time_source(void)
return rcl_default_system_time_source;
}
rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source)
rcl_ret_t
rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(process_time_source, RCL_RET_INVALID_ARGUMENT);
if (rcl_default_ros_time_source) {
@ -229,7 +245,8 @@ rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_sourc
return RCL_RET_OK;
}
rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
rcl_ret_t
rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
rcl_duration_t * delta)
{
if (start->time_source->type != finish->time_source->type) {
@ -244,7 +261,8 @@ rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * fini
return RCL_RET_OK;
}
rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point)
rcl_ret_t
rcl_get_time_point_now(rcl_time_point_t * time_point)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT);
if (time_point->time_source && time_point->time_source->get_now) {
@ -255,7 +273,8 @@ rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point)
return RCL_RET_ERROR;
}
rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source)
rcl_ret_t
rcl_enable_ros_time_override(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
if (time_source->type != RCL_ROS_TIME) {
@ -272,7 +291,8 @@ rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source)
return RCL_RET_OK;
}
rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source)
rcl_ret_t
rcl_disable_ros_time_override(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
if (time_source->type != RCL_ROS_TIME) {
@ -288,7 +308,9 @@ rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source)
return RCL_RET_OK;
}
rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
rcl_ret_t
rcl_is_enabled_ros_time_override(
rcl_time_source_t * time_source,
bool * is_enabled)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
@ -306,7 +328,9 @@ rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
return RCL_RET_OK;
}
rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
rcl_ret_t
rcl_set_ros_time_override(
rcl_time_source_t * time_source,
rcl_time_point_value_t time_value)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);

37
rcl/src/rcl/wait.c
View file

@ -110,16 +110,22 @@ rcl_wait_set_init(
sizeof(rcl_wait_set_impl_t), allocator.state);
RCL_CHECK_FOR_NULL_WITH_MSG(
wait_set->impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
memset(wait_set->impl, 0, sizeof(rcl_wait_set_impl_t));
wait_set->impl->rmw_subscriptions.subscribers = NULL;
wait_set->impl->rmw_subscriptions.subscriber_count = 0;
wait_set->impl->rmw_guard_conditions.guard_conditions = NULL;
wait_set->impl->rmw_guard_conditions.guard_condition_count = 0;
static rmw_guard_conditions_t fixed_guard_conditions;
fixed_guard_conditions.guard_conditions = NULL;
fixed_guard_conditions.guard_condition_count = 0;
wait_set->impl->rmw_waitset = rmw_create_waitset(
NULL, 2 * number_of_subscriptions + number_of_guard_conditions);
&fixed_guard_conditions, 2 * number_of_subscriptions + number_of_guard_conditions);
if (!wait_set->impl->rmw_waitset) {
goto fail;
}
// Set allocator.
wait_set->impl->allocator = allocator;
// Initialize subscription space.
rcl_ret_t ret;
if ((ret = rcl_wait_set_resize_subscriptions(wait_set, number_of_subscriptions)) != RCL_RET_OK) {
@ -150,8 +156,6 @@ rcl_wait_set_init(
fail_ret = ret;
goto fail;
}
// Set allocator.
wait_set->impl->allocator = allocator;
return RCL_RET_OK;
fail:
if (__wait_set_is_valid(wait_set)) {
@ -395,7 +399,9 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
if (timeout > 0) {
// Determine the nearest timeout (given or a timer).
uint64_t min_timeout = timeout;
if (min_timeout > 0) { // Do not consider timer timeouts if non-blocking.
// If min_timeout is > 0, then compare it to the time until each timer.
// Take the lowest and use that for the wait timeout.
if (min_timeout > 0) {
size_t i;
for (i = 0; i < wait_set->size_of_timers; ++i) {
if (!wait_set->timers[i]) {
@ -430,6 +436,18 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
&dummy_clients,
wait_set->impl->rmw_waitset,
timeout_argument);
// Check for timeout.
if (ret == RMW_RET_TIMEOUT) {
// Assume none were set (because timeout was reached first), and clear all.
rcl_ret_t rcl_ret;
// This next line prevents "assigned but never used" warnings in Release mode.
(void)rcl_ret; // NO LINT
rcl_ret = rcl_wait_set_clear_subscriptions(wait_set);
assert(rcl_ret == RCL_RET_OK); // Defensive, shouldn't fail with valid wait_set.
rcl_ret = rcl_wait_set_clear_guard_conditions(wait_set);
assert(rcl_ret == RCL_RET_OK); // Defensive, shouldn't fail with valid wait_set.
return RCL_RET_TIMEOUT;
}
// Check for error.
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
@ -447,17 +465,6 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
wait_set->timers[i] = NULL;
}
}
// Check for timeout.
if (ret == RMW_RET_TIMEOUT) {
// Assume none were set (because timeout was reached first), and clear all.
rcl_ret_t rcl_ret;
(void)rcl_ret; // NO LINT
rcl_ret = rcl_wait_set_clear_subscriptions(wait_set);
assert(rcl_ret == RCL_RET_OK); // Defensive, shouldn't fail with valid wait_set.
rcl_ret = rcl_wait_set_clear_guard_conditions(wait_set);
assert(rcl_ret == RCL_RET_OK); // Defensive, shouldn't fail with valid wait_set.
return RCL_RET_TIMEOUT;
}
// Set corresponding rcl subscription handles NULL.
for (i = 0; i < wait_set->size_of_subscriptions; ++i) {
assert(i < wait_set->impl->rmw_subscriptions.subscriber_count); // Defensive.

176
rcl/test/CMakeLists.txt
View file

@ -1,117 +1,91 @@
find_package(ament_cmake_gtest REQUIRED)
find_package(std_msgs REQUIRED)
include(rcl_add_custom_gtest.cmake)
set(extra_test_libraries)
set(extra_memory_tools_env PHONY=) # Use a phony env var so there is always at least one.
# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
# the librcl that they link against is on the library path.
# This is especially improtant on Windows.
set(rcl_lib_dir $<TARGET_FILE_DIR:${PROJECT_NAME}>)
ament_find_gtest() # For GTEST_LIBRARIES
if(APPLE)
add_library(${PROJECT_NAME}_memory_tools_interpose SHARED memory_tools_osx_interpose.cpp)
target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
set_target_properties(${PROJECT_NAME}_memory_tools_interpose
PROPERTIES COMPILE_FLAGS "-std=c++11")
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
list(APPEND extra_memory_tools_env
DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
endif()
add_library(${PROJECT_NAME}_memory_tools SHARED memory_tools.cpp)
if(NOT WIN32)
set_target_properties(${PROJECT_NAME}_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
if(UNIX AND NOT APPLE)
list(APPEND extra_test_libraries dl)
list(APPEND extra_memory_tools_env DL_PRELOAD=$<TARGET_FILE:${PROJECT_NAME}_memory_tools>)
endif()
target_link_libraries(${PROJECT_NAME}_memory_tools ${extra_test_libraries})
target_compile_definitions(${PROJECT_NAME}_memory_tools
PRIVATE "RCL_MEMORY_TOOLS_BUILDING_DLL")
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
set(extra_test_env)
if(NOT WIN32)
ament_add_gtest(test_memory_tools test_memory_tools.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_memory_tools)
target_include_directories(test_memory_tools PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
# This subdirectory extends both extra_test_libraries and extra_test_env.
add_subdirectory(memory_tools)
macro(test_target)
find_package(${rmw_implementation} REQUIRED)
test_target_function()
endmacro()
function(test_target_function)
# TODO(wjwwood): remove these when C type support is supported by typesupport_introspection.
# after removing, we can also recombine the function and macro
if("${rmw_implementation} " STREQUAL "rmw_connext_dynamic_cpp ")
message(STATUS "Skipping tests for '${rmw_implementation}'")
return()
endif()
if("${rmw_implementation} " STREQUAL "rmw_fastrtps_cpp ")
message(STATUS "Skipping tests for '${rmw_implementation}'")
return()
endif()
message(STATUS "Creating tests for '${rmw_implementation}'")
rcl_add_custom_gtest(test_allocator${target_suffix}
SRCS rcl/test_allocator.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_memory_tools ${PROJECT_NAME} ${extra_test_libraries})
endif()
endif()
ament_add_gtest(test_allocator rcl/test_allocator.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_allocator)
target_include_directories(test_allocator PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
rcl_add_custom_gtest(test_time${target_suffix}
SRCS rcl/test_time.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_allocator PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_allocator ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_time rcl/test_time.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_time)
target_include_directories(test_time PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
)
if(NOT WIN32)
set_target_properties(test_time PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_time ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_common
rcl/test_common.cpp
rcl_add_custom_gtest(test_common${target_suffix}
SRCS rcl/test_common.cpp
ENV
${extra_memory_tools_env}
${extra_test_env}
EMPTY_TEST=
NORMAL_TEST=foo
APPEND_LIBRARY_DIRS
${rcl_lib_dir}
)
if(TARGET test_common)
target_include_directories(test_common PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_common PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_common ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_rcl rcl/test_rcl.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_rcl)
target_include_directories(test_rcl PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
rcl_add_custom_gtest(test_rcl${target_suffix}
SRCS rcl/test_rcl.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_rcl PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_rcl ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_node rcl/test_node.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_node)
target_include_directories(test_node PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
rcl_add_custom_gtest(test_node${target_suffix}
SRCS rcl/test_node.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_node PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_node ${PROJECT_NAME} ${extra_test_libraries})
endif()
rcl_add_custom_gtest(test_publisher${target_suffix}
SRCS rcl/test_publisher.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
)
rcl_add_custom_gtest(test_subscription${target_suffix}
SRCS rcl/test_subscription.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
)
endfunction()
call_for_each_rmw_implementation(test_target)

36
rcl/test/memory_tools/CMakeLists.txt Normal file
View file

@ -0,0 +1,36 @@
ament_find_gtest() # For GTEST_LIBRARIES
# Create the memory_tools library which is used by the tests. (rmw implementation agnostic)
add_library(${PROJECT_NAME}_memory_tools SHARED memory_tools.cpp)
if(APPLE)
# Create an OS X specific version of the memory tools that does interposing.
# See: http://toves.freeshell.org/interpose/
add_library(${PROJECT_NAME}_memory_tools_interpose SHARED memory_tools_osx_interpose.cpp)
target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
list(APPEND extra_test_env
DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
endif()
if(UNIX AND NOT APPLE)
# On Linux like systems, add dl and use the normal library and DL_PRELOAD.
list(APPEND extra_test_libraries dl)
list(APPEND extra_test_env DL_PRELOAD=$<TARGET_FILE:${PROJECT_NAME}_memory_tools>)
endif()
target_link_libraries(${PROJECT_NAME}_memory_tools ${extra_test_libraries})
target_compile_definitions(${PROJECT_NAME}_memory_tools
PRIVATE "RCL_MEMORY_TOOLS_BUILDING_DLL")
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
# Create tests for the memory tools library.
if(NOT WIN32) # (memory tools doesn't do anything on Windows)
include(../rcl_add_custom_gtest.cmake)
rcl_add_custom_gtest(test_memory_tools
SRCS test_memory_tools.cpp
ENV ${extra_test_env}
LIBRARIES ${extra_test_libraries}
)
endif()
set(extra_test_libraries ${extra_test_libraries} PARENT_SCOPE)
set(extra_test_env ${extra_test_env} PARENT_SCOPE)

6
rcl/test/memory_tools.cpp → rcl/test/memory_tools/memory_tools.cpp
View file

@ -55,14 +55,16 @@ free(void * pointer)
void start_memory_checking()
{
if (!enabled.exchange(true)) {
printf("starting memory checking...\n");
enabled.store(true);
}
}
void stop_memory_checking()
{
if (enabled.exchange(false)) {
printf("stopping memory checking...\n");
enabled.store(false);
}
}
/******************************************************************************

31
rcl/test/memory_tools.hpp → rcl/test/memory_tools/memory_tools.hpp
View file

@ -16,8 +16,8 @@
// https://dxr.mozilla.org/mozilla-central/rev/
// cc9c6cd756cb744596ba039dcc5ad3065a7cc3ea/memory/build/replace_malloc.c
#ifndef MEMORY_TOOLS_HPP_
#define MEMORY_TOOLS_HPP_
#ifndef RCL__TEST__MEMORY_TOOLS__MEMORY_TOOLS_HPP_
#define RCL__TEST__MEMORY_TOOLS__MEMORY_TOOLS_HPP_
#include <stddef.h>
@ -104,4 +104,29 @@ RCL_MEMORY_TOOLS_PUBLIC
void
memory_checking_thread_init();
#endif // MEMORY_TOOLS_HPP_
// What follows is a set of failing allocator functions, used for testing.
void *
failing_malloc(size_t size, void * state)
{
(void)size;
(void)state;
return nullptr;
}
void *
failing_realloc(void * pointer, size_t size, void * state)
{
(void)pointer;
(void)size;
(void)state;
return nullptr;
}
void
failing_free(void * pointer, void * state)
{
(void)pointer;
(void)state;
}
#endif // RCL__TEST__MEMORY_TOOLS__MEMORY_TOOLS_HPP_

12
rcl/test/memory_tools_common.cpp → rcl/test/memory_tools/memory_tools_common.cpp
View file

@ -25,7 +25,7 @@
#endif // defined(__APPLE__)
#include "./memory_tools.hpp"
#include "./scope_exit.hpp"
#include "../scope_exit.hpp"
static std::atomic<bool> enabled(false);
@ -65,9 +65,11 @@ custom_malloc(size_t size)
}
void * memory = malloc(size);
uint64_t fw_size = size;
if (!malloc_expected) {
MALLOC_PRINTF(
" malloc (%s) %p %" PRIu64 "\n",
malloc_expected ? " expected" : "not expected", memory, fw_size);
}
return memory;
}
@ -107,9 +109,11 @@ custom_realloc(void * memory_in, size_t size)
}
void * memory = realloc(memory_in, size);
uint64_t fw_size = size;
if (!realloc_expected) {
MALLOC_PRINTF(
"realloc (%s) %p %p %" PRIu64 "\n",
malloc_expected ? " expected" : "not expected", memory_in, memory, fw_size);
realloc_expected ? " expected" : "not expected", memory_in, memory, fw_size);
}
return memory;
}
@ -147,8 +151,10 @@ custom_free(void * memory)
(*unexpected_free_callback)();
}
}
if (!free_expected) {
MALLOC_PRINTF(
" free (%s) %p\n", malloc_expected ? " expected" : "not expected", memory);
" free (%s) %p\n", free_expected ? " expected" : "not expected", memory);
}
free(memory);
}

6
rcl/test/memory_tools_osx_interpose.cpp → rcl/test/memory_tools/memory_tools_osx_interpose.cpp
View file

@ -40,14 +40,16 @@ typedef struct interpose_s
void osx_start_memory_checking()
{
// No loading required, it is handled by DYLD_INSERT_LIBRARIES and dynamic library interposing.
if (!enabled.exchange(true)) {
MALLOC_PRINTF("starting memory checking...\n");
enabled.store(true);
}
}
void osx_stop_memory_checking()
{
if (enabled.exchange(false)) {
MALLOC_PRINTF("stopping memory checking...\n");
enabled.store(false);
}
}
OSX_INTERPOSE(custom_malloc, malloc);

0
rcl/test/test_memory_tools.cpp → rcl/test/memory_tools/test_memory_tools.cpp
View file

2
rcl/test/rcl/test_allocator.cpp
View file

@ -16,7 +16,7 @@
#include "rcl/allocator.h"
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
class TestAllocatorFixture : public ::testing::Test
{

26
rcl/test/rcl/test_node.cpp
View file

@ -20,7 +20,7 @@
#include "rcl/node.h"
#include "rmw/rmw.h" // For rmw_get_implementation_identifier.
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
#include "../scope_exit.hpp"
#include "rcl/error_handling.h"
@ -47,30 +47,6 @@ public:
}
};
void *
failing_malloc(size_t size, void * state)
{
(void)(size);
(void)(state);
return nullptr;
}
void *
failing_realloc(void * pointer, size_t size, void * state)
{
(void)(pointer);
(void)(size);
(void)(state);
return nullptr;
}
void
failing_free(void * pointer, void * state)
{
(void)pointer;
(void)state;
}
bool is_opensplice =
std::string(rmw_get_implementation_identifier()).find("opensplice") != std::string::npos;
#if defined(WIN32)

207
rcl/test/rcl/test_publisher.cpp Normal file
View file

@ -0,0 +1,207 @@
// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include "rcl/publisher.h"
#include "rcl/rcl.h"
#include "std_msgs/msg/int64.h"
#include "std_msgs/msg/string.h"
#include "rosidl_generator_c/string_functions.h"
#include "../memory_tools/memory_tools.hpp"
#include "../scope_exit.hpp"
#include "rcl/error_handling.h"
class TestPublisherFixture : public ::testing::Test
{
public:
rcl_node_t * node_ptr;
void SetUp()
{
stop_memory_checking();
rcl_ret_t ret;
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
this->node_ptr = new rcl_node_t;
*this->node_ptr = rcl_get_zero_initialized_node();
const char * name = "node_name";
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(this->node_ptr, name, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
set_on_unexpected_malloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED MALLOC";});
set_on_unexpected_realloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED REALLOC";});
set_on_unexpected_free_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED FREE";});
start_memory_checking();
}
void TearDown()
{
assert_no_malloc_end();
assert_no_realloc_end();
assert_no_free_end();
stop_memory_checking();
set_on_unexpected_malloc_callback(nullptr);
set_on_unexpected_realloc_callback(nullptr);
set_on_unexpected_free_callback(nullptr);
rcl_ret_t ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
};
/* Basic nominal test of a publisher.
*/
TEST_F(TestPublisherFixture, test_publisher_nominal) {
stop_memory_checking();
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64);
// TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
// ========================================================================================
// Report : WARNING
// Date : Wed Feb 10 18:17:03 PST 2016
// Description : Create Topic "chatter" failed: typename <std_msgs::msg::dds_::Int64_>
// differs exiting definition <std_msgs::msg::dds_::String_>.
// Node : farl
// Process : test_subscription__rmw_opensplice_cpp <23524>
// Thread : main thread 7fff7342d000
// Internals : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
const char * topic_name = "chatter_int64";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
std_msgs__msg__Int64 msg;
std_msgs__msg__Int64__init(&msg);
msg.data = 42;
ret = rcl_publish(&publisher, &msg);
std_msgs__msg__Int64__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
/* Basic nominal test of a publisher with a string.
*/
TEST_F(TestPublisherFixture, test_publisher_nominal_string) {
stop_memory_checking();
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, String);
const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
std_msgs__msg__String msg;
std_msgs__msg__String__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, "testing"));
ret = rcl_publish(&publisher, &msg);
// TODO(wjwwood): re-enable this fini when ownership of the string is resolved.
// currently with Connext we will spuriously get a double free here.
// std_msgs__msg__String__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
/* Testing the publisher init and fini functions.
*/
TEST_F(TestPublisherFixture, test_publisher_init_fini) {
stop_memory_checking();
rcl_ret_t ret;
// Setup valid inputs.
rcl_publisher_t publisher;
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64);
const char * topic_name = "chatter";
rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();
// Try passing null for publisher in init.
ret = rcl_publisher_init(nullptr, this->node_ptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// Try passing null for a node pointer in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, nullptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// Try passing an invalid (uninitialized) node in init.
publisher = rcl_get_zero_initialized_publisher();
rcl_node_t invalid_node = rcl_get_zero_initialized_node();
ret = rcl_publisher_init(&publisher, &invalid_node, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// Try passing null for the type support in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(
&publisher, this->node_ptr, nullptr, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// Try passing null for the topic name in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, nullptr, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// Try passing null for the options in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// Try passing options with an invalid allocate in allocator with init.
publisher = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisher_options_with_invalid_allocator;
publisher_options_with_invalid_allocator = rcl_publisher_get_default_options();
publisher_options_with_invalid_allocator.allocator.allocate = nullptr;
ret = rcl_publisher_init(
&publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// Try passing options with an invalid deallocate in allocator with init.
publisher = rcl_get_zero_initialized_publisher();
publisher_options_with_invalid_allocator = rcl_publisher_get_default_options();
publisher_options_with_invalid_allocator.allocator.deallocate = nullptr;
ret = rcl_publisher_init(
&publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
rcl_reset_error();
// An allocator with an invalid realloc will probably work (so we will not test it).
// Try passing options with a failing allocator with init.
publisher = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisher_options_with_failing_allocator;
publisher_options_with_failing_allocator = rcl_publisher_get_default_options();
publisher_options_with_failing_allocator.allocator.allocate = failing_malloc;
publisher_options_with_failing_allocator.allocator.deallocate = failing_free;
publisher_options_with_failing_allocator.allocator.reallocate = failing_realloc;
ret = rcl_publisher_init(
&publisher, this->node_ptr, ts, topic_name, &publisher_options_with_failing_allocator);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string_safe();
rcl_reset_error();
}

29
rcl/test/rcl/test_rcl.cpp
View file

@ -16,7 +16,7 @@
#include "rcl/rcl.h"
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
#include "rcl/error_handling.h"
class TestRCLFixture : public ::testing::Test
@ -42,30 +42,6 @@ public:
}
};
void *
failing_malloc(size_t size, void * state)
{
(void)(size);
(void)(state);
return nullptr;
}
void *
failing_realloc(void * pointer, size_t size, void * state)
{
(void)(pointer);
(void)(size);
(void)(state);
return nullptr;
}
void
failing_free(void * pointer, void * state)
{
(void)pointer;
(void)state;
}
struct FakeTestArgv
{
FakeTestArgv()
@ -97,6 +73,9 @@ struct FakeTestArgv
int argc;
char ** argv;
private:
FakeTestArgv(const FakeTestArgv &) = delete;
};
/* Tests the rcl_init(), rcl_ok(), and rcl_shutdown() functions.

229
rcl/test/rcl/test_subscription.cpp Normal file
View file

@ -0,0 +1,229 @@
// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include <chrono>
#include <string>
#include <thread>
#include "rcl/subscription.h"
#include "rcl/rcl.h"
#include "std_msgs/msg/int64.h"
#include "std_msgs/msg/string.h"
#include "rosidl_generator_c/string_functions.h"
#include "../memory_tools/memory_tools.hpp"
#include "../scope_exit.hpp"
#include "rcl/error_handling.h"
class TestSubscriptionFixture : public ::testing::Test
{
public:
rcl_node_t * node_ptr;
void SetUp()
{
stop_memory_checking();
rcl_ret_t ret;
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
this->node_ptr = new rcl_node_t;
*this->node_ptr = rcl_get_zero_initialized_node();
const char * name = "node_name";
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(this->node_ptr, name, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
set_on_unexpected_malloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED MALLOC";});
set_on_unexpected_realloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED REALLOC";});
set_on_unexpected_free_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED FREE";});
start_memory_checking();
}
void TearDown()
{
assert_no_malloc_end();
assert_no_realloc_end();
assert_no_free_end();
stop_memory_checking();
set_on_unexpected_malloc_callback(nullptr);
set_on_unexpected_realloc_callback(nullptr);
set_on_unexpected_free_callback(nullptr);
rcl_ret_t ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
};
void
wait_for_subscription_to_be_ready(
rcl_subscription_t * subscription,
size_t max_tries,
int64_t period_ms,
bool & success)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 0, 0, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto wait_set_exit = make_scope_exit([&wait_set]() {
stop_memory_checking();
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
size_t iteration = 0;
do {
++iteration;
ret = rcl_wait_set_clear_subscriptions(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_add_subscription(&wait_set, subscription);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
if (ret == RCL_RET_TIMEOUT) {
continue;
}
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
for (size_t i = 0; i < wait_set.size_of_subscriptions; ++i) {
if (wait_set.subscriptions[i] && wait_set.subscriptions[i] == subscription) {
success = true;
return;
}
}
} while (iteration < max_tries);
success = false;
}
/* Basic nominal test of a subscription.
*/
TEST_F(TestSubscriptionFixture, test_subscription_nominal) {
stop_memory_checking();
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64);
// TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
// ========================================================================================
// Report : WARNING
// Date : Wed Feb 10 18:17:03 PST 2016
// Description : Create Topic "chatter" failed: typename <std_msgs::msg::dds_::Int64_>
// differs exiting definition <std_msgs::msg::dds_::String_>.
// Node : farl
// Process : test_subscription__rmw_opensplice_cpp <23524>
// Thread : main thread 7fff7342d000
// Internals : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
const char * topic = "chatter_int64";
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_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto subscription_exit = make_scope_exit([&subscription, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
{
std_msgs__msg__Int64 msg;
std_msgs__msg__Int64__init(&msg);
msg.data = 42;
ret = rcl_publish(&publisher, &msg);
std_msgs__msg__Int64__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
bool success;
wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
ASSERT_TRUE(success);
{
std_msgs__msg__Int64 msg;
std_msgs__msg__Int64__init(&msg);
auto msg_exit = make_scope_exit([&msg]() {
stop_memory_checking();
std_msgs__msg__Int64__fini(&msg);
});
bool taken = false;
ret = rcl_take(&subscription, &msg, &taken, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ASSERT_TRUE(taken) << "failed to take a message, even though the subscription was ready";
ASSERT_EQ(42, msg.data);
}
}
/* Basic nominal test of a publisher with a string.
*/
TEST_F(TestSubscriptionFixture, test_subscription_nominal_string) {
stop_memory_checking();
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, String);
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_safe();
auto publisher_exit = make_scope_exit([&publisher, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto subscription_exit = make_scope_exit([&subscription, this]() {
stop_memory_checking();
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
const char * test_string = "testing";
{
std_msgs__msg__String msg;
std_msgs__msg__String__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, test_string));
ret = rcl_publish(&publisher, &msg);
// TODO(wjwwood): re-enable this fini when ownership of the string is resolved.
// currently with Connext we will spuriously get a double free here.
// std_msgs__msg__String__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
bool success;
wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
ASSERT_TRUE(success);
{
std_msgs__msg__String msg;
std_msgs__msg__String__init(&msg);
auto msg_exit = make_scope_exit([&msg]() {
stop_memory_checking();
std_msgs__msg__String__fini(&msg);
});
bool taken = false;
ret = rcl_take(&subscription, &msg, &taken, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ASSERT_TRUE(taken) << "failed to take a message, even though the subscription was ready";
ASSERT_EQ(std::string(test_string), std::string(msg.data.data, msg.data.size));
}
}

2
rcl/test/rcl/test_time.cpp
View file

@ -22,7 +22,7 @@
#include "rcl/error_handling.h"
#include "rcl/time.h"
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
class TestTimeFixture : public ::testing::Test
{

100
rcl/test/rcl_add_custom_gtest.cmake Normal file
View file

@ -0,0 +1,100 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
if(rcl_add_custom_gtest_INCLUDED)
return()
endif()
set(rcl_add_custom_gtest_INCLUDED TRUE)
# include CMake functions
include(CMakeParseArguments)
#
# Custom macro for adding a gtest in rcl.
#
# It also takes some of the arguments of ament_add_gtest as well as
# INCLUDE_DIRS, LIBRARIES, and AMENT_DEPENDENCIES which are passed to
# target_include_directories(), target_link_libraries(), and
# ament_target_dependencies() respectively.
#
# :param target: the target name which will also be used as the test name
# :type target: string
# :param SRCS: list of source files used to create the gtest
# :type SRCS: list of strings
# :param ENV: list of env vars to set; listed as ``VAR=value``
# :type ENV: list of strings
# :param APPEND_ENV: list of env vars to append if already set, otherwise set;
# listed as ``VAR=value``
# :type APPEND_ENV: list of strings
# :param APPEND_LIBRARY_DIRS: list of library dirs to append to the appropriate
# OS specific env var, a la LD_LIBRARY_PATH
# :type APPEND_LIBRARY_DIRS: list of strings
# :param INCLUDE_DIRS: list of include directories to add to the target
# :type INCLUDE_DIRS: list of strings
# :param LIBRARIES: list of libraries to link to the target
# :type LIBRARIES: list of strings
# :param AMENT_DEPENDENCIES: list of depends to pass ament_target_dependencies
# :type AMENT_DEPENDENCIES: list of strings
#
# @public
#
macro(rcl_add_custom_gtest target)
cmake_parse_arguments(_ARG
"TRACE"
""
"SRCS;ENV;APPEND_ENV;APPEND_LIBRARY_DIRS;INCLUDE_DIRS;LIBRARIES;AMENT_DEPENDENCIES"
${ARGN})
if(_ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "rcl_add_custom_gtest() called with unused arguments: ${_ARG_UNPARSED_ARGUMENTS}")
endif()
if(_ARG_ENV)
set(_ARG_ENV "ENV" ${_ARG_ENV})
endif()
if(_ARG_APPEND_ENV)
set(_ARG_APPEND_ENV "APPEND_ENV" ${_ARG_APPEND_ENV})
endif()
if(_ARG_APPEND_LIBRARY_DIRS)
set(_ARG_APPEND_LIBRARY_DIRS "APPEND_LIBRARY_DIRS" ${_ARG_APPEND_LIBRARY_DIRS})
endif()
# Pass args along to ament_add_gtest().
ament_add_gtest(${target} ${_ARG_SRCS} ${_ARG_ENV} ${_ARG_APPEND_ENV} ${_ARG_APPEND_LIBRARY_DIRS})
# Check if the target was actually created.
if(TARGET ${target})
if(_ARG_TRACE)
message(STATUS "rcl_add_custom_gtest() Target '${target}':")
endif()
# Add extra include directories, if any.
if(_ARG_INCLUDE_DIRS)
if(_ARG_TRACE)
message(STATUS " rcl_add_custom_gtest() INCLUDE_DIRS: ${_ARG_INCLUDE_DIRS}")
endif()
target_include_directories(${target} PUBLIC ${_ARG_INCLUDE_DIRS})
endif()
# Add extra link libraries, if any.
if(_ARG_LIBRARIES)
if(_ARG_TRACE)
message(STATUS " rcl_add_custom_gtest() LIBRARIES: ${_ARG_LIBRARIES}")
endif()
target_link_libraries(${target} ${_ARG_LIBRARIES})
endif()
# Add extra ament dependencies, if any.
if(_ARG_AMENT_DEPENDENCIES)
if(_ARG_TRACE)
message(STATUS " rcl_add_custom_gtest() AMENT_DEPENDENCIES: ${_ARG_AMENT_DEPENDENCIES}")
endif()
ament_target_dependencies(${target} ${_ARG_AMENT_DEPENDENCIES})
endif()
endif()
endmacro()