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code style only: wrap after open parenthesis if not in one line (#565)

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Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
This commit is contained in:
Dirk Thomas 2020-02-03 09:06:35 -08:00 • committed by GitHub
parent 7537f83044
commit 4b9c0a30be
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
43 changed files with 944 additions and 538 deletions
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126
rcl/src/rcl/arguments.c
View file

@ -397,8 +397,8 @@ rcl_parse_arguments(
if (i + 1 < argc) {
// Attempt to parse next argument as parameter override rule
if (RCL_RET_OK == _rcl_parse_param_rule(argv[i + 1], args_impl->parameter_overrides)) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Got param override rule : %s\n", argv[i + 1]);
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Got param override rule : %s\n", argv[i + 1]);
++i; // Skip flag here, for loop will skip rule.
continue;
}
@ -414,8 +414,8 @@ rcl_parse_arguments(
ret = RCL_RET_INVALID_ROS_ARGS;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Arg %d (%s) is not a %s nor a %s flag.",
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s nor a %s flag.",
i, argv[i], RCL_PARAM_FLAG, RCL_SHORT_PARAM_FLAG);
// Attempt to parse argument as remap rule flag
@ -442,9 +442,9 @@ rcl_parse_arguments(
ret = RCL_RET_INVALID_ROS_ARGS;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Arg %d (%s) is not a %s nor a %s flag.", i,
argv[i], RCL_REMAP_FLAG, RCL_SHORT_REMAP_FLAG);
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s nor a %s flag.",
i, argv[i], RCL_REMAP_FLAG, RCL_SHORT_REMAP_FLAG);
// Attempt to parse argument as parameter file rule
if (strcmp(RCL_PARAM_FILE_FLAG, argv[i]) == 0) {
@ -457,7 +457,8 @@ rcl_parse_arguments(
&args_impl->parameter_files[args_impl->num_param_files_args]))
{
++(args_impl->num_param_files_args);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Got params file : %s\ntotal num param files %d",
args_impl->parameter_files[args_impl->num_param_files_args - 1],
args_impl->num_param_files_args);
@ -476,8 +477,9 @@ rcl_parse_arguments(
ret = RCL_RET_INVALID_ROS_ARGS;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Arg %d (%s) is not a %s flag.", i, argv[i], RCL_PARAM_FILE_FLAG);
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s flag.",
i, argv[i], RCL_PARAM_FILE_FLAG);
// Attempt to parse argument as log level configuration
if (strcmp(RCL_LOG_LEVEL_FLAG, argv[i]) == 0) {
@ -501,16 +503,16 @@ rcl_parse_arguments(
ret = RCL_RET_INVALID_ROS_ARGS;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Arg %d (%s) is not a %s flag.",
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s flag.",
i, argv[i], RCL_LOG_LEVEL_FLAG);
// Attempt to parse argument as log configuration file
if (strcmp(RCL_EXTERNAL_LOG_CONFIG_FLAG, argv[i]) == 0) {
if (i + 1 < argc) {
if (NULL != args_impl->external_log_config_file) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Overriding log configuration file : %s\n",
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Overriding log configuration file : %s\n",
args_impl->external_log_config_file);
allocator.deallocate(args_impl->external_log_config_file, allocator.state);
args_impl->external_log_config_file = NULL;
@ -518,8 +520,8 @@ rcl_parse_arguments(
if (RCL_RET_OK == _rcl_parse_external_log_config_file(
argv[i + 1], allocator, &args_impl->external_log_config_file))
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Got log configuration file : %s\n",
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Got log configuration file : %s\n",
args_impl->external_log_config_file);
++i; // Skip flag here, for loop will skip value.
continue;
@ -536,19 +538,21 @@ rcl_parse_arguments(
ret = RCL_RET_INVALID_ROS_ARGS;
goto fail;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Arg %d (%s) is not a %s flag.",
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s flag.",
i, argv[i], RCL_EXTERNAL_LOG_CONFIG_FLAG);
// Attempt to parse --enable/disable-stdout-logs flag
ret = _rcl_parse_disabling_flag(
argv[i], RCL_LOG_STDOUT_FLAG_SUFFIX, &args_impl->log_stdout_disabled);
if (RCL_RET_OK == ret) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Disable log stdout ? %s\n", args_impl->log_stdout_disabled ? "true" : "false");
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Disable log stdout ? %s\n",
args_impl->log_stdout_disabled ? "true" : "false");
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as %s%s or %s%s flag. Error: %s",
i, argv[i], RCL_ENABLE_FLAG_PREFIX, RCL_LOG_STDOUT_FLAG_SUFFIX,
RCL_DISABLE_FLAG_PREFIX, RCL_LOG_STDOUT_FLAG_SUFFIX, rcl_get_error_string().str);
@ -558,11 +562,13 @@ rcl_parse_arguments(
ret = _rcl_parse_disabling_flag(
argv[i], RCL_LOG_ROSOUT_FLAG_SUFFIX, &args_impl->log_rosout_disabled);
if (RCL_RET_OK == ret) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Disable log rosout ? %s\n", args_impl->log_rosout_disabled ? "true" : "false");
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Disable log rosout ? %s\n",
args_impl->log_rosout_disabled ? "true" : "false");
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as %s%s or %s%s flag. Error: %s",
i, argv[i], RCL_ENABLE_FLAG_PREFIX, RCL_LOG_ROSOUT_FLAG_SUFFIX,
RCL_DISABLE_FLAG_PREFIX, RCL_LOG_ROSOUT_FLAG_SUFFIX, rcl_get_error_string().str);
@ -572,11 +578,13 @@ rcl_parse_arguments(
ret = _rcl_parse_disabling_flag(
argv[i], RCL_LOG_EXT_LIB_FLAG_SUFFIX, &args_impl->log_ext_lib_disabled);
if (RCL_RET_OK == ret) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Disable log external lib ? %s\n", args_impl->log_ext_lib_disabled ? "true" : "false");
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Disable log external lib ? %s\n",
args_impl->log_ext_lib_disabled ? "true" : "false");
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as %s%s or %s%s flag. Error: %s",
i, argv[i], RCL_ENABLE_FLAG_PREFIX, RCL_LOG_EXT_LIB_FLAG_SUFFIX,
RCL_DISABLE_FLAG_PREFIX, RCL_LOG_EXT_LIB_FLAG_SUFFIX, rcl_get_error_string().str);
@ -596,14 +604,16 @@ rcl_parse_arguments(
rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
*rule = rcl_get_zero_initialized_remap();
if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Found remap rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
argv[i], RCL_ROS_ARGS_FLAG, RCL_REMAP_FLAG, argv[i]);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Got remap rule : %s\n", argv[i + 1]);
++(args_impl->num_remap_rules);
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as a remap rule in its deprecated form. Error: %s",
i, argv[i], rcl_get_error_string().str);
rcl_reset_error();
@ -616,17 +626,20 @@ rcl_parse_arguments(
&args_impl->parameter_files[args_impl->num_param_files_args]))
{
++(args_impl->num_param_files_args);
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Found parameter file rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
argv[i], RCL_ROS_ARGS_FLAG, RCL_PARAM_FILE_FLAG,
args_impl->parameter_files[args_impl->num_param_files_args - 1]);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"params rule : %s\n total num param rules %d",
args_impl->parameter_files[args_impl->num_param_files_args - 1],
args_impl->num_param_files_args);
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as a deprecated parameter file rule. Error: %s",
i, argv[i], rcl_get_error_string().str);
rcl_reset_error();
@ -634,13 +647,15 @@ rcl_parse_arguments(
// Attempt to parse argument as log level configuration
int log_level;
if (RCL_RET_OK == _rcl_parse_log_level_rule(argv[i], allocator, &log_level)) {
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Found log level rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
argv[i], RCL_ROS_ARGS_FLAG, RCL_LOG_LEVEL_FLAG, g_rcutils_log_severity_names[log_level]);
args_impl->log_level = log_level;
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as a deprecated log level rule. Error: %s",
i, argv[i], rcl_get_error_string().str);
rcl_reset_error();
@ -649,16 +664,18 @@ rcl_parse_arguments(
rcl_ret_t ret = _rcl_parse_external_log_config_file_rule(
argv[i], allocator, &args_impl->external_log_config_file);
if (RCL_RET_OK == ret) {
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Found log config rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
argv[i], RCL_ROS_ARGS_FLAG, RCL_EXTERNAL_LOG_CONFIG_FLAG,
args_impl->external_log_config_file);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Got log configuration file : %s\n",
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Got log configuration file : %s\n",
args_impl->external_log_config_file);
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as a deprecated log config rule. Error: %s",
i, argv[i], rcl_get_error_string().str);
rcl_reset_error();
@ -669,14 +686,17 @@ rcl_parse_arguments(
if (RCL_RET_OK == ret) {
const char * flag_prefix =
args_impl->log_stdout_disabled ? RCL_DISABLE_FLAG_PREFIX : RCL_ENABLE_FLAG_PREFIX;
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Found '%s'. This syntax is deprecated. Use '%s %s%s' instead.",
argv[i], RCL_ROS_ARGS_FLAG, flag_prefix, RCL_LOG_STDOUT_FLAG_SUFFIX);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Disable log stdout ? %s\n", args_impl->log_stdout_disabled ? "true" : "false");
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Disable log stdout ? %s\n",
args_impl->log_stdout_disabled ? "true" : "false");
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as a deprecated log_stdout_disabled rule. Error: %s",
i, argv[i], rcl_get_error_string().str);
rcl_reset_error();
@ -687,14 +707,17 @@ rcl_parse_arguments(
if (RCL_RET_OK == ret) {
const char * flag_prefix =
args_impl->log_rosout_disabled ? RCL_DISABLE_FLAG_PREFIX : RCL_ENABLE_FLAG_PREFIX;
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Found '%s'. This syntax is deprecated. Use '%s %s%s' instead.",
argv[i], RCL_ROS_ARGS_FLAG, flag_prefix, RCL_LOG_ROSOUT_FLAG_SUFFIX);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Disable log rosout ? %s\n", args_impl->log_rosout_disabled ? "true" : "false");
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Disable log rosout ? %s\n",
args_impl->log_rosout_disabled ? "true" : "false");
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as a deprecated log_rosout_disabled rule. Error: %s",
i, argv[i], rcl_get_error_string().str);
rcl_reset_error();
@ -705,14 +728,17 @@ rcl_parse_arguments(
if (RCL_RET_OK == ret) {
const char * flag_prefix =
args_impl->log_ext_lib_disabled ? RCL_DISABLE_FLAG_PREFIX : RCL_ENABLE_FLAG_PREFIX;
RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Found '%s'. This syntax is deprecated. Use '%s %s%s' instead.",
argv[i], RCL_ROS_ARGS_FLAG, flag_prefix, RCL_LOG_EXT_LIB_FLAG_SUFFIX);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
"Disable log external lib ? %s\n", args_impl->log_ext_lib_disabled ? "true" : "false");
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Disable log external lib ? %s\n",
args_impl->log_ext_lib_disabled ? "true" : "false");
continue;
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Couldn't parse arg %d (%s) as a deprecated log_ext_lib_disabled rule. Error: %s",
i, argv[i], rcl_get_error_string().str);
rcl_reset_error();

3
rcl/src/rcl/init.c
View file

@ -186,7 +186,8 @@ rcl_shutdown(rcl_context_t * context)
}
rcl_ret_t rcl_ret = rcl_logging_fini();
RCUTILS_LOG_ERROR_EXPRESSION_NAMED(RCL_RET_OK != rcl_ret, ROS_PACKAGE_NAME,
RCUTILS_LOG_ERROR_EXPRESSION_NAMED(
RCL_RET_OK != rcl_ret, ROS_PACKAGE_NAME,
"Failed to fini logging, rcl_ret_t: %i, rcl_error_str: %s", rcl_ret,
rcl_get_error_string().str);
rcl_reset_error();

13
rcl/src/rcl/logging_rosout.c
View file

@ -93,8 +93,10 @@ rcl_ret_t rcl_logging_rosout_init(
return RCL_RET_OK;
}
__logger_map = rcutils_get_zero_initialized_hash_map();
RCL_RET_FROM_RCUTIL_RET(status,
rcutils_hash_map_init(&__logger_map, 2, sizeof(const char *), sizeof(rosout_map_entry_t),
RCL_RET_FROM_RCUTIL_RET(
status,
rcutils_hash_map_init(
&__logger_map, 2, sizeof(const char *), sizeof(rosout_map_entry_t),
rcutils_hash_map_string_hash_func, rcutils_hash_map_string_cmp_func, allocator));
if (RCL_RET_OK == status) {
__rosout_allocator = *allocator;
@ -111,8 +113,8 @@ rcl_ret_t rcl_logging_rosout_fini()
rosout_map_entry_t entry;
// fini all the outstanding publishers
rcutils_ret_t hashmap_ret = rcutils_hash_map_get_next_key_and_data(&__logger_map, NULL, &key,
&entry);
rcutils_ret_t hashmap_ret = rcutils_hash_map_get_next_key_and_data(
&__logger_map, NULL, &key, &entry);
while (RCL_RET_OK == status && RCUTILS_RET_OK == hashmap_ret) {
// Teardown publisher
status = rcl_publisher_fini(&entry.publisher, entry.node);
@ -157,7 +159,8 @@ rcl_ret_t rcl_logging_rosout_init_publisher_for_node(
if (rcutils_hash_map_key_exists(&__logger_map, &logger_name)) {
// @TODO(nburek) Update behavior to either enforce unique names or work with non-unique
// names based on the outcome here: https://github.com/ros2/design/issues/187
RCUTILS_LOG_WARN_NAMED("rcl.logging_rosout",
RCUTILS_LOG_WARN_NAMED(
"rcl.logging_rosout",
"Publisher already registered for provided node name. If this is due to multiple nodes "
"with the same name then all logs for that logger name will go out over the existing "
"publisher. As soon as any node with that name is destructed it will unregister the "

3
rcl/src/rcl/node.c
View file

@ -381,7 +381,8 @@ fail:
node->impl->logger_name)
{
ret = rcl_logging_rosout_fini_publisher_for_node(node);
RCUTILS_LOG_ERROR_EXPRESSION_NAMED((ret != RCL_RET_OK && ret != RCL_RET_NOT_INIT),
RCUTILS_LOG_ERROR_EXPRESSION_NAMED(
(ret != RCL_RET_OK && ret != RCL_RET_NOT_INIT),
ROS_PACKAGE_NAME, "Failed to fini publisher for node: %i", ret);
allocator->deallocate((char *)node->impl->logger_name, allocator->state);
}

12
rcl/src/rcl/publisher.c
View file

@ -169,8 +169,8 @@ rcl_publisher_init(
remapped_topic_name,
&(options->qos),
&(options->rmw_publisher_options));
RCL_CHECK_FOR_NULL_WITH_MSG(publisher->impl->rmw_handle,
rmw_get_error_string().str, goto fail);
RCL_CHECK_FOR_NULL_WITH_MSG(
publisher->impl->rmw_handle, rmw_get_error_string().str, goto fail);
// get actual qos, and store it
rmw_ret = rmw_publisher_get_actual_qos(
publisher->impl->rmw_handle,
@ -303,8 +303,8 @@ rcl_publish_serialized_message(
return RCL_RET_PUBLISHER_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(serialized_message, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t ret = rmw_publish_serialized_message(publisher->impl->rmw_handle, serialized_message,
allocation);
rmw_ret_t ret = rmw_publish_serialized_message(
publisher->impl->rmw_handle, serialized_message, allocation);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
if (ret == RMW_RET_BAD_ALLOC) {
@ -420,8 +420,8 @@ rcl_publisher_get_subscription_count(
}
RCL_CHECK_ARGUMENT_FOR_NULL(subscription_count, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t ret = rmw_publisher_count_matched_subscriptions(publisher->impl->rmw_handle,
subscription_count);
rmw_ret_t ret = rmw_publisher_count_matched_subscriptions(
publisher->impl->rmw_handle, subscription_count);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);

10
rcl/src/rcl/security_directory.c
View file

@ -104,9 +104,9 @@ static bool get_best_matching_directory(
}
if (file.is_dir) {
size_t matched_name_length = strnlen(file.name, sizeof(file.name) - 1);
if (0 ==
strncmp(file.name, node_name,
matched_name_length) && matched_name_length > max_match_length)
if (
0 == strncmp(file.name, node_name, matched_name_length) &&
matched_name_length > max_match_length)
{
max_match_length = matched_name_length;
memcpy(matched_name, file.name, max_match_length);
@ -230,7 +230,9 @@ char * rcl_get_secure_root(
allocator->deallocate(ros_secure_root_env, allocator->state);
return NULL;
}
if (0 == strcmp(ros_security_lookup_type,
if (
0 == strcmp(
ros_security_lookup_type,
g_security_lookup_type_strings[ROS_SECURITY_LOOKUP_MATCH_PREFIX]))
{
node_secure_root = g_security_lookup_fns[ROS_SECURITY_LOOKUP_MATCH_PREFIX]

9
rcl/src/rcl/subscription.c
View file

@ -265,9 +265,8 @@ rcl_take(
rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
// Call rmw_take_with_info.
bool taken = false;
rmw_ret_t ret =
rmw_take_with_info(subscription->impl->rmw_handle, ros_message, &taken,
message_info_local, allocation);
rmw_ret_t ret = rmw_take_with_info(
subscription->impl->rmw_handle, ros_message, &taken, message_info_local, allocation);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
if (RMW_RET_BAD_ALLOC == ret) {
@ -418,8 +417,8 @@ rcl_subscription_get_publisher_count(
return RCL_RET_SUBSCRIPTION_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(publisher_count, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t ret = rmw_subscription_count_matched_publishers(subscription->impl->rmw_handle,
publisher_count);
rmw_ret_t ret = rmw_subscription_count_matched_publishers(
subscription->impl->rmw_handle, publisher_count);
if (ret != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);

12
rcl/src/rcl/time.c
View file

@ -121,8 +121,8 @@ rcl_clock_fini(
rcl_clock_t * clock)
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(&clock->allocator, "clock has invalid allocator",
return RCL_RET_ERROR);
RCL_CHECK_ALLOCATOR_WITH_MSG(
&clock->allocator, "clock has invalid allocator", return RCL_RET_ERROR);
switch (clock->type) {
case RCL_ROS_TIME:
return rcl_ros_clock_fini(clock);
@ -384,8 +384,8 @@ rcl_clock_add_jump_callback(
{
// Make sure parameters are valid
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(&(clock->allocator), "invalid allocator",
return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(
&(clock->allocator), "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(callback, RCL_RET_INVALID_ARGUMENT);
if (threshold.min_forward.nanoseconds < 0) {
RCL_SET_ERROR_MSG("forward jump threshold must be positive or zero");
@ -427,8 +427,8 @@ rcl_clock_remove_jump_callback(
{
// Make sure parameters are valid
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(&(clock->allocator), "invalid allocator",
return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(
&(clock->allocator), "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(callback, RCL_RET_INVALID_ARGUMENT);
// Delete callback if found, moving all callbacks after back one

12
rcl/src/rcl/wait.c
View file

@ -422,19 +422,22 @@ rcl_wait_set_resize(
}
SET_RESIZE(timer,;,;); // NOLINT
SET_RESIZE(client,
SET_RESIZE(
client,
SET_RESIZE_RMW_DEALLOC(
rmw_clients.clients, rmw_clients.client_count),
SET_RESIZE_RMW_REALLOC(
client, rmw_clients.clients, rmw_clients.client_count)
);
SET_RESIZE(service,
SET_RESIZE(
service,
SET_RESIZE_RMW_DEALLOC(
rmw_services.services, rmw_services.service_count),
SET_RESIZE_RMW_REALLOC(
service, rmw_services.services, rmw_services.service_count)
);
SET_RESIZE(event,
SET_RESIZE(
event,
SET_RESIZE_RMW_DEALLOC(
rmw_events.events, rmw_events.event_count),
SET_RESIZE_RMW_REALLOC(
@ -451,7 +454,8 @@ rcl_wait_set_add_guard_condition(
size_t * index)
{
SET_ADD(guard_condition)
SET_ADD_RMW(guard_condition, rmw_guard_conditions.guard_conditions,
SET_ADD_RMW(
guard_condition, rmw_guard_conditions.guard_conditions,
rmw_guard_conditions.guard_condition_count)
return RCL_RET_OK;

6
rcl/test/rcl/arg_macros.hpp
View file

@ -56,7 +56,8 @@ destroy_args(int argc, char ** args)
rcl_ret_t ret = rcl_init(argc, argv, &init_options, &context); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
} \
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ \
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( \
{ \
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str; \
destroy_args(argc, argv); \
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str; \
@ -72,7 +73,8 @@ destroy_args(int argc, char ** args)
local_argc, local_argv, rcl_get_default_allocator(), &local_arguments); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
} \
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ \
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( \
{ \
ASSERT_EQ(RCL_RET_OK, rcl_arguments_fini(&local_arguments)); \
})

12
rcl/test/rcl/client_fixture.cpp
View file

@ -70,7 +70,8 @@ wait_for_client_to_be_ready(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str);
return false;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string().str);
@ -124,7 +125,8 @@ int main(int argc, char ** argv)
ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string().str);
return -1;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_shutdown(&context) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error shutting down rcl: %s", rcl_get_error_string().str);
@ -145,7 +147,8 @@ int main(int argc, char ** argv)
ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string().str);
return -1;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string().str);
@ -166,7 +169,8 @@ int main(int argc, char ** argv)
return -1;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_client_fini(&client, &node)) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in client fini: %s", rcl_get_error_string().str);

18
rcl/test/rcl/service_fixture.cpp
View file

@ -43,7 +43,8 @@ wait_for_service_to_be_ready(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str);
return false;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string().str);
@ -97,7 +98,8 @@ int main(int argc, char ** argv)
ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string().str);
return -1;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_shutdown(&context) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error shutting down rcl: %s", rcl_get_error_string().str);
@ -118,7 +120,8 @@ int main(int argc, char ** argv)
ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string().str);
return -1;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_node_fini(&node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string().str);
@ -139,7 +142,8 @@ int main(int argc, char ** argv)
return -1;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_service_fini(&service, &node)) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in service fini: %s", rcl_get_error_string().str);
@ -153,7 +157,8 @@ int main(int argc, char ** argv)
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&service_response, 0, sizeof(test_msgs__srv__BasicTypes_Response));
test_msgs__srv__BasicTypes_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__srv__BasicTypes_Response__fini(&service_response);
});
@ -170,7 +175,8 @@ int main(int argc, char ** argv)
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&service_request, 0, sizeof(test_msgs__srv__BasicTypes_Request));
test_msgs__srv__BasicTypes_Request__init(&service_request);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__srv__BasicTypes_Request__fini(&service_request);
});
rmw_request_id_t header;

97
rcl/test/rcl/test_arguments.cpp
View file

@ -260,7 +260,9 @@ are_valid_ros_args(std::vector<const char *> argv)
TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) {
const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
EXPECT_TRUE(are_valid_ros_args({
EXPECT_TRUE(
are_valid_ros_args(
{
"--ros-args", "-p", "foo:=bar", "-r", "__node:=node_name",
"--params-file", parameters_filepath.c_str(), "--log-level", "INFO",
"--log-config-file", "file.config"
@ -532,7 +534,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_uninitialized_p
rcl_arguments_t parsed_args;
int not_null = 1;
parsed_args.impl = reinterpret_cast<rcl_arguments_impl_t *>(&not_null);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT,
ASSERT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args));
rcl_reset_error();
}
@ -543,12 +546,15 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_double_parse) {
};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
ASSERT_EQ(RCL_RET_OK,
ASSERT_EQ(
RCL_RET_OK,
rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT,
ASSERT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args));
rcl_reset_error();
}
@ -583,37 +589,44 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_remove_ros_
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, default_allocator, &parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
const char ** nonros_argv = NULL;
int nonros_argc = 0;
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
NULL, &parsed_args, default_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, NULL, default_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
rcl_allocator_t zero_initialized_allocator =
(rcl_allocator_t)rcutils_get_zero_initialized_allocator();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, zero_initialized_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, default_allocator, NULL, &nonros_argv));
rcl_reset_error();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, default_allocator, &nonros_argc, NULL));
rcl_reset_error();
rcl_arguments_t zero_initialized_parsed_args = rcl_get_zero_initialized_arguments();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &zero_initialized_parsed_args, default_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();
@ -621,14 +634,16 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_remove_ros_
const char ** initialized_nonros_argv = stack_allocated_nonros_argv;
int initialized_nonros_argc = sizeof(stack_allocated_nonros_argv) / sizeof(const char *);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, default_allocator, &initialized_nonros_argc, &initialized_nonros_argv));
rcl_reset_error();
rcl_arguments_t no_parsed_args = rcl_get_zero_initialized_arguments();
ret = rcl_parse_arguments(0, NULL, default_allocator, &no_parsed_args);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&no_parsed_args));
});
@ -650,13 +665,15 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int nonros_argc = 0;
const char ** nonros_argv = NULL;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
alloc.deallocate(nonros_argv, alloc.state);
});
@ -690,13 +707,15 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_deprecat
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int nonros_argc = 0;
const char ** nonros_argv = NULL;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
alloc.deallocate(nonros_argv, alloc.state);
});
@ -724,13 +743,15 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int nonros_argc = 0;
const char ** nonros_argv = NULL;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
alloc.deallocate(nonros_argv, alloc.state);
});
@ -756,13 +777,15 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
int nonros_argc = 0;
const char ** nonros_argv = NULL;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
alloc.deallocate(nonros_argv, alloc.state);
});
@ -788,7 +811,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
@ -809,7 +833,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
@ -828,7 +853,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
rcl_params_t * params = NULL;
ret = rcl_arguments_get_param_overrides(&parsed_args, &params);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params);
});
EXPECT_EQ(1U, params->num_nodes);
@ -861,7 +887,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_deprecated_para
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
@ -880,7 +907,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_deprecated_para
rcl_params_t * params = NULL;
ret = rcl_arguments_get_param_overrides(&parsed_args, &params);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params);
});
EXPECT_EQ(1U, params->num_nodes);
@ -912,7 +940,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
@ -932,7 +961,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
rcl_params_t * params = NULL;
ret = rcl_arguments_get_param_overrides(&parsed_args, &params);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params);
});
EXPECT_EQ(2U, params->num_nodes);
@ -972,7 +1002,8 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_param_overri
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
@ -1013,14 +1044,16 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_overrides
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({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
});
rcl_params_t * params = NULL;
ret = rcl_arguments_get_param_overrides(&parsed_args, &params);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params);
});
EXPECT_EQ(2U, params->num_nodes);

6
rcl/test/rcl/test_client.cpp
View file

@ -36,7 +36,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -85,7 +86,8 @@ TEST_F(TestClientFixture, test_client_nominal) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(strcmp(rcl_client_get_service_name(&client), expected_topic_name), 0);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

27
rcl/test/rcl/test_context.cpp
View file

@ -45,7 +45,8 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
ASSERT_EQ(ret, RCL_RET_OK);
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(ret, RCL_RET_OK);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_OK);
ret = rcl_context_fini(&context);
@ -54,14 +55,16 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
// test rcl_context_get_init_options
const rcl_init_options_t * init_options_ptr;
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
init_options_ptr = rcl_context_get_init_options(nullptr);
});
EXPECT_EQ(init_options_ptr, nullptr);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
init_options_ptr = rcl_context_get_init_options(&context);
});
EXPECT_NE(init_options_ptr, nullptr) << rcl_get_error_string().str;
@ -69,14 +72,16 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
// test rcl_context_get_instance_id
rcl_context_instance_id_t instance_id;
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
instance_id = rcl_context_get_instance_id(nullptr);
});
EXPECT_EQ(instance_id, 0UL);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
instance_id = rcl_context_get_instance_id(&context);
});
EXPECT_NE(instance_id, 0UL) << rcl_get_error_string().str;
@ -84,14 +89,16 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
// test rcl_context_is_valid
bool is_valid;
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
is_valid = rcl_context_is_valid(nullptr);
});
EXPECT_FALSE(is_valid);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
is_valid = rcl_context_is_valid(&context);
});
EXPECT_TRUE(is_valid) << rcl_get_error_string().str;
@ -99,14 +106,16 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
// test rcl_context_get_rmw_context
rmw_context_t * rmw_context_ptr;
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
rmw_context_ptr = rcl_context_get_rmw_context(nullptr);
});
EXPECT_EQ(rmw_context_ptr, nullptr);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
rmw_context_ptr = rcl_context_get_rmw_context(&context);
});
EXPECT_NE(rmw_context_ptr, nullptr) << rcl_get_error_string().str;

6
rcl/test/rcl/test_count_matched.cpp
View file

@ -80,7 +80,8 @@ void check_state(
ret = rcl_wait_set_add_guard_condition(wait_set_ptr, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
" state wrong, waiting up to '%s' nanoseconds for graph changes... ",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(wait_set_ptr, time_to_sleep.count());
@ -187,7 +188,8 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_funct
check_state(wait_set_ptr, nullptr, &sub2, graph_guard_condition, -1, 0, 9);
}
TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
test_count_matched_functions_mismatched_qos) {
std::string topic_name("/test_count_matched_functions_mismatched_qos__");
rcl_ret_t ret;

30
rcl/test/rcl/test_events.cpp
View file

@ -57,7 +57,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -239,7 +240,8 @@ wait_for_msgs_and_events(
context,
rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
});
@ -345,7 +347,8 @@ conditional_wait_for_msgs_and_events(
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_missed)
{
setup_publisher_and_subscriber(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
setup_publisher_and_subscriber(
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
rcl_ret_t ret;
@ -372,7 +375,8 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_
if (msg_ready) {
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
@ -409,7 +413,8 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_missed)
{
setup_publisher_and_subscriber(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
setup_publisher_and_subscriber(
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
rcl_ret_t ret;
@ -442,12 +447,14 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_mis
if (msg_persist_ready) {
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(std::string(msg.string_value.data, msg.string_value.size),
EXPECT_EQ(
std::string(msg.string_value.data, msg.string_value.size),
std::string(test_string));
}
@ -480,7 +487,8 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_mis
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_kill_pub)
{
setup_publisher_and_subscriber(RCL_PUBLISHER_LIVELINESS_LOST,
setup_publisher_and_subscriber(
RCL_PUBLISHER_LIVELINESS_LOST,
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
rcl_ret_t ret;
@ -515,12 +523,14 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_k
if (msg_persist_ready) {
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(std::string(msg.string_value.data, msg.string_value.size),
EXPECT_EQ(
std::string(msg.string_value.data, msg.string_value.size),
std::string(test_string));
}

35
rcl/test/rcl/test_get_actual_qos.cpp
View file

@ -37,14 +37,17 @@
#endif
#define EXPAND(x) x
#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME(test_fixture_name, \
RMW_IMPLEMENTATION)
#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME( \
test_fixture_name, RMW_IMPLEMENTATION)
#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
#define TEST_P_RMW(test_case_name, test_name) \
APPLY(TEST_P, \
APPLY( \
TEST_P, \
CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
#define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \
EXPAND(APPLY(INSTANTIATE_TEST_CASE_P, instance_name, \
EXPAND( \
APPLY( \
INSTANTIATE_TEST_CASE_P, instance_name, \
CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
/**
@ -111,7 +114,8 @@ public:
*this->context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->node_ptr = new rcl_node_t;
@ -385,7 +389,8 @@ get_parameters(bool for_publisher)
/*
* Testing with default qos settings.
*/
parameters.push_back({
parameters.push_back(
{
rmw_qos_profile_default,
expected_default_qos_profile(),
"default_qos"
@ -399,7 +404,8 @@ get_parameters(bool for_publisher)
/*
* Test with non-default settings.
*/
parameters.push_back({
parameters.push_back(
{
nondefault_qos_profile_for_fastrtps(),
expected_nondefault_qos_profile_for_fastrtps(),
"nondefault_qos"
@ -409,13 +415,15 @@ get_parameters(bool for_publisher)
* Test with system default settings.
*/
if (for_publisher) {
parameters.push_back({
parameters.push_back(
{
rmw_qos_profile_system_default,
expected_system_default_publisher_qos_profile_for_fastrtps(),
"system_default_publisher_qos"
});
} else {
parameters.push_back({
parameters.push_back(
{
rmw_qos_profile_system_default,
expected_system_default_subscription_qos_profile_for_fastrtps(),
"system_default_publisher_qos"
@ -429,7 +437,8 @@ get_parameters(bool for_publisher)
/*
* Test with non-default settings.
*/
parameters.push_back({
parameters.push_back(
{
nondefault_qos_profile(),
expected_nondefault_qos_profile(),
"nondefault_qos"
@ -439,13 +448,15 @@ get_parameters(bool for_publisher)
* Test with system default settings.
*/
if (for_publisher) {
parameters.push_back({
parameters.push_back(
{
rmw_qos_profile_system_default,
expected_system_default_publisher_qos_profile(),
"system_default_publisher_qos"
});
} else {
parameters.push_back({
parameters.push_back(
{
rmw_qos_profile_system_default,
expected_system_default_subscription_qos_profile(),
"system_default_publisher_qos"

10
rcl/test/rcl/test_get_node_names.cpp
View file

@ -55,13 +55,15 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});
@ -118,7 +120,9 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
EXPECT_EQ(node_names.size, node_namespaces.size) << ss.str();
for (size_t i = 0; i < node_names.size; ++i) {
discovered_nodes.insert(std::make_pair(std::string(node_names.data[i]),
discovered_nodes.insert(
std::make_pair(
std::string(node_names.data[i]),
std::string(node_namespaces.data[i])));
}
EXPECT_EQ(discovered_nodes, expected_nodes);

84
rcl/test/rcl/test_graph.cpp
View file

@ -69,7 +69,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->old_context_ptr = new rcl_context_t;
@ -678,7 +679,8 @@ check_graph_state(
bool expected_in_tnat,
size_t number_of_tries)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Expecting %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
expected_publisher_count,
expected_subscriber_count,
@ -716,7 +718,8 @@ check_graph_state(
rcl_reset_error();
}
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
" Try %zu: %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
i + 1,
publisher_count,
@ -741,7 +744,8 @@ check_graph_state(
ret = rcl_wait_set_add_guard_condition(wait_set_ptr, graph_guard_condition, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
" state wrong, waiting up to '%s' nanoseconds for graph changes... ",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(wait_set_ptr, time_to_sleep.count());
@ -764,9 +768,9 @@ check_graph_state(
/**
* Type define a get topics function.
*/
typedef std::function<rcl_ret_t(const rcl_node_t *,
const char * node_name,
rcl_names_and_types_t *)> GetTopicsFunc;
typedef std::function<
rcl_ret_t(const rcl_node_t *, const char * node_name, rcl_names_and_types_t *)
> GetTopicsFunc;
/**
* Expect a certain number of topics on a given subsystem.
@ -789,7 +793,8 @@ void expect_topics_types(
if (expect) {
EXPECT_EQ(num_topics, nat.names.size);
} else {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expected topics %zu, actual topics %zu", num_topics,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Expected topics %zu, actual topics %zu", num_topics,
nat.names.size);
}
ret = rcl_names_and_types_fini(&nat);
@ -829,7 +834,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) <<
rcl_get_error_string().str;
});
@ -842,30 +848,35 @@ public:
*this->remote_context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->remote_context_ptr);
ret = rcl_node_init(remote_node_ptr, remote_node_name, "", this->remote_context_ptr,
ret = rcl_node_init(
remote_node_ptr, remote_node_name, "", this->remote_context_ptr,
&node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
sub_func = std::bind(rcl_get_subscriber_names_and_types_by_node,
sub_func = std::bind(
rcl_get_subscriber_names_and_types_by_node,
std::placeholders::_1,
&this->allocator,
false,
std::placeholders::_2,
"/",
std::placeholders::_3);
pub_func = std::bind(rcl_get_publisher_names_and_types_by_node,
pub_func = std::bind(
rcl_get_publisher_names_and_types_by_node,
std::placeholders::_1,
&this->allocator,
false,
std::placeholders::_2,
"/",
std::placeholders::_3);
service_func = std::bind(rcl_get_service_names_and_types_by_node,
service_func = std::bind(
rcl_get_service_names_and_types_by_node,
std::placeholders::_1,
&this->allocator,
std::placeholders::_2,
"/",
std::placeholders::_3);
client_func = std::bind(rcl_get_client_names_and_types_by_node,
client_func = std::bind(
rcl_get_client_names_and_types_by_node,
std::placeholders::_1,
&this->allocator,
std::placeholders::_2,
@ -896,7 +907,8 @@ public:
rcl_ret_t ret;
rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_namespaces);
@ -937,39 +949,49 @@ public:
// verify each node contains the same node graph.
for (auto node : node_vec) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from node");
expect_topics_types(node, sub_func, node_state.subscribers,
expect_topics_types(
node, sub_func, node_state.subscribers,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node");
expect_topics_types(node, service_func, node_state.services,
expect_topics_types(
node, service_func, node_state.services,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking clients from node");
expect_topics_types(node, client_func, node_state.clients,
expect_topics_types(
node, client_func, node_state.clients,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node");
expect_topics_types(node, pub_func, node_state.publishers,
expect_topics_types(
node, pub_func, node_state.publishers,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from remote node");
expect_topics_types(node, sub_func, remote_node_state.subscribers,
expect_topics_types(
node, sub_func, remote_node_state.subscribers,
this->remote_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from remote node");
expect_topics_types(node, pub_func, remote_node_state.publishers,
expect_topics_types(
node, pub_func, remote_node_state.publishers,
this->remote_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from remote node");
expect_topics_types(node, service_func, remote_node_state.services,
expect_topics_types(
node, service_func, remote_node_state.services,
this->remote_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking clients from remote node");
expect_topics_types(node, client_func, remote_node_state.clients,
expect_topics_types(
node, client_func, remote_node_state.clients,
this->remote_node_name, is_expect, is_success);
if (!is_success) {
ret = rcl_wait_set_clear(wait_set_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret =
rcl_wait_set_add_guard_condition(wait_set_ptr, rcl_node_get_graph_guard_condition(
rcl_wait_set_add_guard_condition(
wait_set_ptr, rcl_node_get_graph_guard_condition(
node), NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
" state wrong, waiting up to '%s' nanoseconds for graph changes... ",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(wait_set_ptr, time_to_sleep.count());
@ -1217,7 +1239,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
"waiting up to '%s' nanoseconds for graph changes",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
@ -1242,7 +1265,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -1274,7 +1298,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
"waiting up to '%s' nanoseconds for graph changes",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
@ -1309,7 +1334,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
rcl_service_options_t service_options = rcl_service_get_default_options();
ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

21
rcl/test/rcl/test_guard_condition.cpp
View file

@ -66,7 +66,8 @@ TEST_F(
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
ASSERT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
});
@ -74,7 +75,8 @@ TEST_F(
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Setup automatic rcl_shutdown()
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
@ -89,7 +91,8 @@ TEST_F(
ret = rcl_guard_condition_init(&guard_condition, &context, default_options);
ASSERT_EQ(RCL_RET_OK, ret);
// Setup automatic finalization of guard condition.
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
rcl_ret_t ret = rcl_guard_condition_fini(&guard_condition);
EXPECT_EQ(RCL_RET_OK, ret);
@ -103,7 +106,8 @@ TEST_F(
actual_options = rcl_guard_condition_get_options(&zero_guard_condition);
EXPECT_EQ(nullptr, actual_options);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_options = rcl_guard_condition_get_options(&guard_condition);
});
EXPECT_NE(nullptr, actual_options);
@ -118,7 +122,8 @@ TEST_F(
gc_handle = rcl_guard_condition_get_rmw_handle(&zero_guard_condition);
EXPECT_EQ(nullptr, gc_handle);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
gc_handle = rcl_guard_condition_get_rmw_handle(&guard_condition);
});
EXPECT_NE(nullptr, gc_handle);
@ -141,13 +146,15 @@ TEST_F(
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
ASSERT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
});
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});

118
rcl/test/rcl/test_info_by_topic.cpp
View file

@ -59,7 +59,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->old_context = rcl_get_zero_initialized_context();
@ -114,9 +115,11 @@ public:
EXPECT_EQ(qos_profile1.lifespan.nsec, qos_profile2.lifespan.nsec);
EXPECT_EQ(qos_profile1.reliability, qos_profile2.reliability);
EXPECT_EQ(qos_profile1.liveliness, qos_profile2.liveliness);
EXPECT_EQ(qos_profile1.liveliness_lease_duration.sec,
EXPECT_EQ(
qos_profile1.liveliness_lease_duration.sec,
qos_profile2.liveliness_lease_duration.sec);
EXPECT_EQ(qos_profile1.liveliness_lease_duration.nsec,
EXPECT_EQ(
qos_profile1.liveliness_lease_duration.nsec,
qos_profile2.liveliness_lease_duration.nsec);
EXPECT_EQ(qos_profile1.durability, qos_profile2.durability);
}
@ -126,12 +129,14 @@ public:
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_publishers_info_by_topic_null_node)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_publishers_info_by_topic(nullptr,
&allocator, this->topic_name, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_publishers_info_by_topic(
nullptr, &allocator, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}
@ -139,12 +144,14 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriptions_info_by_topic_null_node)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_subscriptions_info_by_topic(nullptr,
&allocator, this->topic_name, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_subscriptions_info_by_topic(
nullptr, &allocator, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}
@ -152,13 +159,15 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_publishers_info_by_topic_invalid_node)
{
// this->old_node is an invalid node.
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_publishers_info_by_topic(&this->old_node,
&allocator, this->topic_name, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_publishers_info_by_topic(
&this->old_node, &allocator, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}
@ -166,13 +175,15 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriptions_info_by_topic_invalid_node)
{
// this->old_node is an invalid node.
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_subscriptions_info_by_topic(&this->old_node,
&allocator, this->topic_name, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_subscriptions_info_by_topic(
&this->old_node, &allocator, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}
@ -180,11 +191,12 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_publishers_info_by_topic_null_allocator)
{
const auto ret = rcl_get_publishers_info_by_topic(&this->node, nullptr, this->topic_name,
false,
const auto ret = rcl_get_publishers_info_by_topic(
&this->node, nullptr, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}
@ -193,11 +205,12 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriptions_info_by_topic_null_allocator)
{
const auto ret = rcl_get_subscriptions_info_by_topic(&this->node, nullptr, this->topic_name,
false,
const auto ret = rcl_get_subscriptions_info_by_topic(
&this->node, nullptr, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}
@ -206,12 +219,13 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_publishers_info_by_topic_null_topic)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_publishers_info_by_topic(&this->node,
&allocator, nullptr, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_publishers_info_by_topic(
&this->node, &allocator, nullptr, false, &this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}
@ -219,12 +233,13 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriptions_info_by_topic_null_topic)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_subscriptions_info_by_topic(&this->node,
&allocator, nullptr, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_subscriptions_info_by_topic(
&this->node, &allocator, nullptr, false, &this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}
@ -232,12 +247,13 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_publishers_info_by_topic_null_participants)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_publishers_info_by_topic(&this->node,
&allocator, this->topic_name, false, nullptr);
const auto ret = rcl_get_publishers_info_by_topic(
&this->node, &allocator, this->topic_name, false, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}
@ -245,12 +261,13 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriptions_info_by_topic_null_participants)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_subscriptions_info_by_topic(&this->node,
&allocator, this->topic_name, false, nullptr);
const auto ret = rcl_get_subscriptions_info_by_topic(
&this->node, &allocator, this->topic_name, false, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}
@ -258,18 +275,21 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_publishers_info_by_topic_invalid_participants)
{
// topic_endpoint_info_array is invalid because it is expected to be zero initialized
// and the info_array variable inside it is expected to be null.
this->topic_endpoint_info_array.info_array = new rmw_topic_endpoint_info_t();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
free(this->topic_endpoint_info_array.info_array);
});
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_publishers_info_by_topic(&this->node,
&allocator, this->topic_name, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_publishers_info_by_topic(
&this->node, &allocator, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_ERROR, ret);
}
@ -277,22 +297,26 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriptions_info_by_topic_invalid_participants)
{
// topic_endpoint_info_array is invalid because it is expected to be zero initialized
// and the info_array variable inside it is expected to be null.
this->topic_endpoint_info_array.info_array = new rmw_topic_endpoint_info_t();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
free(this->topic_endpoint_info_array.info_array);
});
rcl_allocator_t allocator = rcl_get_default_allocator();
const auto ret = rcl_get_subscriptions_info_by_topic(&this->node,
&allocator, this->topic_name, false, &this->topic_endpoint_info_array);
const auto ret = rcl_get_subscriptions_info_by_topic(
&this->node, &allocator, this->topic_name, false,
&this->topic_endpoint_info_array);
EXPECT_EQ(RCL_RET_ERROR, ret);
}
TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
TEST_F(
CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
test_rcl_get_publishers_subscription_info_by_topic)
{
// This is implemented only in fastrtps currently.
@ -338,8 +362,9 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
// Get publishers info by topic
rmw_topic_endpoint_info_array_t topic_endpoint_info_array_pub =
rmw_get_zero_initialized_topic_endpoint_info_array();
ret = rcl_get_publishers_info_by_topic(&this->node,
&allocator, fqdn.c_str(), false, &topic_endpoint_info_array_pub);
ret = rcl_get_publishers_info_by_topic(
&this->node, &allocator, fqdn.c_str(), false,
&topic_endpoint_info_array_pub);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(topic_endpoint_info_array_pub.count, 1u) << "Expected one publisher";
rmw_topic_endpoint_info_t topic_endpoint_info_pub = topic_endpoint_info_array_pub.info_array[0];
@ -350,8 +375,9 @@ TEST_F(CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
rmw_topic_endpoint_info_array_t topic_endpoint_info_array_sub =
rmw_get_zero_initialized_topic_endpoint_info_array();
ret = rcl_get_subscriptions_info_by_topic(&this->node,
&allocator, fqdn.c_str(), false, &topic_endpoint_info_array_sub);
ret = rcl_get_subscriptions_info_by_topic(
&this->node, &allocator, fqdn.c_str(), false,
&topic_endpoint_info_array_sub);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(topic_endpoint_info_array_sub.count, 1u) << "Expected one subscription";
rmw_topic_endpoint_info_t topic_endpoint_info_sub = topic_endpoint_info_array_sub.info_array[0];

9
rcl/test/rcl/test_init.cpp
View file

@ -201,7 +201,8 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_shutdown
ret = rcl_context_fini(&context);
EXPECT_EQ(ret, RCL_RET_OK);
context = rcl_get_zero_initialized_context();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
}
@ -224,7 +225,8 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id)
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
{
@ -235,7 +237,8 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id)
}
// And it should be allocation free.
uint64_t first_instance_id;
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
first_instance_id = rcl_context_get_instance_id(&context);
});
EXPECT_NE(0u, first_instance_id);

36
rcl/test/rcl/test_logging_rosout.cpp
View file

@ -32,14 +32,16 @@
#endif
#define EXPAND(x) x
#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME(test_fixture_name, \
RMW_IMPLEMENTATION)
#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME( \
test_fixture_name, RMW_IMPLEMENTATION)
#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
#define TEST_P_RMW(test_case_name, test_name) \
APPLY(TEST_P, \
CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
APPLY( \
TEST_P, CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
#define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \
EXPAND(APPLY(INSTANTIATE_TEST_CASE_P, instance_name, \
EXPAND( \
APPLY( \
INSTANTIATE_TEST_CASE_P, instance_name, \
CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
struct TestParameters
@ -71,7 +73,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -137,7 +140,8 @@ wait_for_subscription_to_be_ready(
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, 0, context, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -188,7 +192,8 @@ get_parameters()
/*
* Test with enable(implicit) global rosout logs and enable node option of rosout.
*/
parameters.push_back({
parameters.push_back(
{
0,
nullptr,
true,
@ -198,7 +203,8 @@ get_parameters()
/*
* Test with enable(implicit) global rosout logs and disable node option of rosout.
*/
parameters.push_back({
parameters.push_back(
{
0,
nullptr,
false,
@ -208,7 +214,8 @@ get_parameters()
/*
* Test with enable(explicit) global rosout logs and enable node option of rosout.
*/
parameters.push_back({
parameters.push_back(
{
s_argc,
s_argv_enable_rosout,
true,
@ -218,7 +225,8 @@ get_parameters()
/*
* Test with enable(explicit) global rosout logs and disable node option of rosout.
*/
parameters.push_back({
parameters.push_back(
{
s_argc,
s_argv_enable_rosout,
false,
@ -228,7 +236,8 @@ get_parameters()
/*
* Test with disable global rosout logs and enable node option of rosout.
*/
parameters.push_back({
parameters.push_back(
{
s_argc,
s_argv_disable_rosout,
true,
@ -238,7 +247,8 @@ get_parameters()
/*
* Test with disable global rosout logs and disable node option of rosout.
*/
parameters.push_back({
parameters.push_back(
{
s_argc,
s_argv_disable_rosout,
false,

66
rcl/test/rcl/test_node.cpp
View file

@ -90,7 +90,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t invalid_context = rcl_get_zero_initialized_context();
@ -115,20 +116,23 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
// This is the normal check (not windows and windows if not opensplice)
ASSERT_EQ(RCL_RET_OK, ret);
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
rcl_ret_t ret = rcl_node_fini(&invalid_node);
EXPECT_EQ(RCL_RET_OK, ret);
});
ret = rcl_shutdown(&invalid_context); // Shutdown to invalidate the node.
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&invalid_context)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
@ -139,7 +143,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, namespace_, &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
@ -175,7 +180,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
actual_node_name = rcl_node_get_name(&invalid_node);
EXPECT_STREQ(name, actual_node_name);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_node_name = rcl_node_get_name(&node);
});
EXPECT_TRUE(actual_node_name ? true : false);
@ -193,7 +199,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
actual_node_namespace = rcl_node_get_namespace(&invalid_node);
EXPECT_STREQ(namespace_, actual_node_namespace);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_node_namespace = rcl_node_get_namespace(&node);
});
EXPECT_STREQ(namespace_, actual_node_namespace);
@ -208,7 +215,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
actual_fq_node_name = rcl_node_get_fully_qualified_name(&invalid_node);
EXPECT_STREQ(fq_name, actual_fq_node_name);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_fq_node_name = rcl_node_get_fully_qualified_name(&node);
});
EXPECT_STREQ(fq_name, actual_fq_node_name);
@ -226,7 +234,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ("ns." + std::string(name), std::string(actual_node_logger_name));
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_node_logger_name = rcl_node_get_logger_name(&node);
});
EXPECT_NE(actual_node_logger_name, nullptr);
@ -248,7 +257,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(default_options.domain_id, actual_options->domain_id);
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_options = rcl_node_get_options(&node);
});
EXPECT_NE(nullptr, actual_options);
@ -269,7 +279,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
ret = rcl_node_get_domain_id(&invalid_node, &actual_domain_id);
EXPECT_EQ(RCL_RET_OK, ret);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
ret = rcl_node_get_domain_id(&node, &actual_domain_id);
});
EXPECT_EQ(RCL_RET_OK, ret);
@ -288,7 +299,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
node_handle = rcl_node_get_rmw_handle(&invalid_node);
EXPECT_NE(nullptr, node_handle);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
node_handle = rcl_node_get_rmw_handle(&node);
});
EXPECT_NE(nullptr, node_handle);
@ -303,7 +315,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
instance_id = rcl_node_get_rcl_instance_id(&invalid_node);
EXPECT_EQ(0u, instance_id);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
instance_id = rcl_node_get_rcl_instance_id(&node);
});
EXPECT_NE(0u, instance_id);
@ -318,7 +331,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
graph_guard_condition = rcl_node_get_graph_guard_condition(&invalid_node);
EXPECT_NE(nullptr, graph_guard_condition);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
graph_guard_condition = rcl_node_get_graph_guard_condition(&node);
});
EXPECT_NE(nullptr, graph_guard_condition);
@ -342,12 +356,14 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle)
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
@ -438,13 +454,15 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_name_restri
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
@ -504,13 +522,15 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_namespace_r
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
@ -608,13 +628,15 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});

15
rcl/test/rcl/test_publisher.cpp
View file

@ -44,7 +44,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -85,7 +86,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
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().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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;
});
@ -109,7 +111,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
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().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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;
});
@ -137,7 +140,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts_int, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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;
});
@ -151,7 +155,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
ret = rcl_publisher_init(
&publisher_in_namespace, this->node_ptr, ts_string, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher_in_namespace, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

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

@ -431,8 +431,8 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_nodename_replacement)
SCOPE_ARGS(global_arguments, "process_name");
char * output = NULL;
ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", rcl_get_default_allocator(),
&output);
ret = rcl_remap_node_name(
NULL, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(NULL, output);
}

54
rcl/test/rcl/test_security_directory.cpp
View file

@ -70,24 +70,28 @@ protected:
void TearDown() final
{
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(root_path, allocator.state);
});
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(secure_root, allocator.state);
});
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(base_lookup_dir_fqn, allocator.state);
});
}
void set_base_lookup_dir_fqn(const char * resource_dir, const char * resource_dir_name)
{
base_lookup_dir_fqn = rcutils_join_path(resource_dir,
resource_dir_name, allocator);
base_lookup_dir_fqn = rcutils_join_path(
resource_dir, resource_dir_name, allocator);
std::string putenv_input = ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "=";
putenv_input += base_lookup_dir_fqn;
memcpy(g_envstring, putenv_input.c_str(),
memcpy(
g_envstring, putenv_input.c_str(),
std::min(putenv_input.length(), sizeof(g_envstring) - 1));
putenv_wrapper(g_envstring);
}
@ -99,17 +103,20 @@ protected:
};
TEST_F(TestGetSecureRoot, failureScenarios) {
ASSERT_EQ(rcl_get_secure_root(TEST_NODE_NAME, TEST_NODE_NAMESPACE, &allocator),
ASSERT_EQ(
rcl_get_secure_root(TEST_NODE_NAME, TEST_NODE_NAMESPACE, &allocator),
(char *) NULL);
putenv_wrapper(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
/* Security directory is set, but there's no matching directory */
/// Wrong namespace
ASSERT_EQ(rcl_get_secure_root(TEST_NODE_NAME, "/some_other_namespace", &allocator),
ASSERT_EQ(
rcl_get_secure_root(TEST_NODE_NAME, "/some_other_namespace", &allocator),
(char *) NULL);
/// Wrong node name
ASSERT_EQ(rcl_get_secure_root("not_" TEST_NODE_NAME, TEST_NODE_NAMESPACE, &allocator),
ASSERT_EQ(
rcl_get_secure_root("not_" TEST_NODE_NAME, TEST_NODE_NAMESPACE, &allocator),
(char *) NULL);
}
@ -126,7 +133,8 @@ TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch) {
*/
secure_root = rcl_get_secure_root(TEST_NODE_NAME, TEST_NODE_NAMESPACE, &allocator);
std::string secure_root_str(secure_root);
ASSERT_STREQ(TEST_NODE_NAME,
ASSERT_STREQ(
TEST_NODE_NAME,
secure_root_str.substr(secure_root_str.size() - (sizeof(TEST_NODE_NAME) - 1)).c_str());
}
@ -141,12 +149,12 @@ TEST_F(TestGetSecureRoot, successScenarios_local_prefixMatch) {
* Root: ${CMAKE_BINARY_DIR}/tests/resources
* Namespace: /test_security_directory
* Node: dummy_node_and_some_suffix_added */
root_path = rcl_get_secure_root(TEST_NODE_NAME "_and_some_suffix_added",
TEST_NODE_NAMESPACE, &allocator);
root_path = rcl_get_secure_root(
TEST_NODE_NAME "_and_some_suffix_added", TEST_NODE_NAMESPACE, &allocator);
ASSERT_STRNE(root_path, secure_root);
putenv_wrapper(ROS_SECURITY_LOOKUP_TYPE_VAR_NAME "=MATCH_PREFIX");
root_path = rcl_get_secure_root(TEST_NODE_NAME "_and_some_suffix_added",
TEST_NODE_NAMESPACE, &allocator);
root_path = rcl_get_secure_root(
TEST_NODE_NAME "_and_some_suffix_added", TEST_NODE_NAMESPACE, &allocator);
ASSERT_STREQ(root_path, secure_root);
}
@ -182,25 +190,26 @@ TEST_F(TestGetSecureRoot, successScenarios_root_prefixMatch) {
* Root dir: ${CMAKE_BINARY_DIR}/tests/resources/test_security_directory
* Namespace: /
* Node: dummy_node_and_some_suffix_added */
root_path = rcl_get_secure_root(TEST_NODE_NAME "_and_some_suffix_added",
ROOT_NAMESPACE, &allocator);
root_path = rcl_get_secure_root(
TEST_NODE_NAME "_and_some_suffix_added", ROOT_NAMESPACE, &allocator);
ASSERT_STREQ(root_path, secure_root);
}
TEST_F(TestGetSecureRoot, nodeSecurityDirectoryOverride_validDirectory) {
/* Specify a valid directory */
putenv_wrapper(ROS_SECURITY_NODE_DIRECTORY_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
root_path = rcl_get_secure_root("name shouldn't matter",
"namespace shouldn't matter", &allocator);
root_path = rcl_get_secure_root(
"name shouldn't matter", "namespace shouldn't matter", &allocator);
ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
}
TEST_F(TestGetSecureRoot,
TEST_F(
TestGetSecureRoot,
nodeSecurityDirectoryOverride_validDirectory_overrideRootDirectoryAttempt) {
/* Setting root dir has no effect */
putenv_wrapper(ROS_SECURITY_NODE_DIRECTORY_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
root_path = rcl_get_secure_root("name shouldn't matter",
"namespace shouldn't matter", &allocator);
root_path = rcl_get_secure_root(
"name shouldn't matter", "namespace shouldn't matter", &allocator);
putenv_wrapper(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
}
@ -211,6 +220,7 @@ TEST_F(TestGetSecureRoot, nodeSecurityDirectoryOverride_invalidDirectory) {
putenv_wrapper(
ROS_SECURITY_NODE_DIRECTORY_VAR_NAME
"=TheresN_oWayThi_sDirectory_Exists_hence_this_would_fail");
ASSERT_EQ(rcl_get_secure_root(TEST_NODE_NAME, TEST_NODE_NAMESPACE, &allocator),
ASSERT_EQ(
rcl_get_secure_root(TEST_NODE_NAME, TEST_NODE_NAMESPACE, &allocator),
(char *) NULL);
}

15
rcl/test/rcl/test_service.cpp
View file

@ -46,7 +46,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -87,7 +88,8 @@ wait_for_service_to_be_ready(
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, 0, context, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -147,7 +149,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// Check that the service name matches what we assigned.
EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), expected_topic), 0);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -156,7 +159,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, topic, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -193,7 +197,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// Initialize a response.
test_msgs__srv__BasicTypes_Response service_response;
test_msgs__srv__BasicTypes_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__srv__BasicTypes_Response__fini(&service_response);
});

24
rcl/test/rcl/test_subscription.cpp
View file

@ -47,7 +47,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -88,7 +89,8 @@ wait_for_subscription_to_be_ready(
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, 0, context, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -126,7 +128,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
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({
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;
});
@ -134,7 +137,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_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().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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;
});
@ -174,7 +178,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
{
test_msgs__msg__BasicTypes msg;
test_msgs__msg__BasicTypes__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__BasicTypes__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
@ -194,7 +199,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
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({
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;
});
@ -202,7 +208,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_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().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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;
});
@ -225,7 +232,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);

90
rcl/test/rcl/test_time.cpp
View file

@ -61,7 +61,8 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t retval = rcl_ros_clock_init(&ros_clock, &allocator);
ASSERT_EQ(RCL_RET_OK, retval) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&ros_clock)) << rcl_get_error_string().str;
});
@ -85,7 +86,8 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
ret = rcl_is_enabled_ros_time_override(&ros_clock, &is_enabled);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(is_enabled, false);
EXPECT_NO_MEMORY_OPERATIONS({
EXPECT_NO_MEMORY_OPERATIONS(
{
// Check for normal operation (not allowed to alloc).
ret = rcl_clock_get_now(&ros_clock, &query_now);
});
@ -173,14 +175,16 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_clock_a
rcl_clock_t source;
ret = rcl_ros_clock_init(&source, &allocator);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&source)) << rcl_get_error_string().str;
});
rcl_clock_t ros_clock;
rcl_ret_t retval = rcl_ros_clock_init(&ros_clock, &allocator);
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&ros_clock)) << rcl_get_error_string().str;
});
}
@ -189,7 +193,8 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_ros_clock_initially_
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t ros_clock;
ASSERT_EQ(RCL_RET_OK, rcl_ros_clock_init(&ros_clock, &allocator)) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&ros_clock)) << rcl_get_error_string().str;
});
ASSERT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(&ros_clock)) << rcl_get_error_string().str;
@ -207,7 +212,8 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), clock_validation) {
rcl_ret_t ret;
ret = rcl_ros_clock_init(&uninitialized, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&uninitialized)) << rcl_get_error_string().str;
});
}
@ -217,32 +223,37 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_clock_instanciation) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t retval = rcl_ros_clock_init(&ros_clock, &allocator);
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&ros_clock)) << rcl_get_error_string().str;
});
ASSERT_TRUE(rcl_clock_valid(&ros_clock));
auto * steady_clock = static_cast<rcl_clock_t *>(
allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(steady_clock, allocator.state);
});
retval = rcl_steady_clock_init(steady_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_steady_clock_fini(steady_clock)) << rcl_get_error_string().str;
});
ASSERT_TRUE(rcl_clock_valid(steady_clock));
auto * system_clock = static_cast<rcl_clock_t *>(
allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(system_clock, allocator.state);
});
retval = rcl_system_clock_init(system_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_system_clock_fini(system_clock)) << rcl_get_error_string().str;
});
ASSERT_TRUE(rcl_clock_valid(system_clock));
@ -291,12 +302,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * ros_clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(ros_clock)) << rcl_get_error_string().str;
});
EXPECT_TRUE(ros_clock != nullptr);
@ -326,12 +339,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference_signed) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * ros_clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(ros_clock)) << rcl_get_error_string().str;
});
@ -407,12 +422,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_clock_change_callbacks) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * ros_clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
});
rcl_time_point_value_t query_now;
@ -424,7 +441,8 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_clock_change_callbacks) {
threshold.on_clock_change = true;
threshold.min_forward.nanoseconds = 0;
threshold.min_backward.nanoseconds = 0;
ASSERT_EQ(RCL_RET_OK,
ASSERT_EQ(
RCL_RET_OK,
rcl_clock_add_jump_callback(ros_clock, threshold, clock_callback, &time_jump)) <<
rcl_get_error_string().str;
reset_callback_triggers();
@ -470,12 +488,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_forward_jump_callbacks) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * ros_clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
});
@ -488,7 +508,8 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_forward_jump_callbacks) {
threshold.on_clock_change = false;
threshold.min_forward.nanoseconds = 1;
threshold.min_backward.nanoseconds = 0;
ASSERT_EQ(RCL_RET_OK,
ASSERT_EQ(
RCL_RET_OK,
rcl_clock_add_jump_callback(ros_clock, threshold, clock_callback, &time_jump)) <<
rcl_get_error_string().str;
reset_callback_triggers();
@ -531,12 +552,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_backward_jump_callbacks)
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * ros_clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
});
rcl_ret_t ret;
@ -548,7 +571,8 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_backward_jump_callbacks)
threshold.on_clock_change = false;
threshold.min_forward.nanoseconds = 0;
threshold.min_backward.nanoseconds = -1;
ASSERT_EQ(RCL_RET_OK,
ASSERT_EQ(
RCL_RET_OK,
rcl_clock_add_jump_callback(ros_clock, threshold, clock_callback, &time_jump)) <<
rcl_get_error_string().str;
reset_callback_triggers();
@ -591,12 +615,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_add_jump_callback) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(clock, &allocator);
ASSERT_EQ(RCL_RET_OK, retval) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(clock));
});
@ -627,12 +653,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_remove_jump_callback) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(clock, &allocator);
ASSERT_EQ(RCL_RET_OK, retval) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(clock));
});
@ -675,12 +703,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), add_remove_add_jump_callback) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto * clock =
static_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(clock, &allocator);
ASSERT_EQ(RCL_RET_OK, retval) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(clock));
});

45
rcl/test/rcl/test_timer.cpp
View file

@ -35,7 +35,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -91,7 +92,8 @@ TEST_F(TestTimerFixture, test_two_timers) {
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer2, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_fini(&timer2);
@ -147,7 +149,8 @@ TEST_F(TestTimerFixture, test_two_timers_ready_before_timeout) {
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer2, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_fini(&timer2);
@ -197,7 +200,8 @@ TEST_F(TestTimerFixture, test_timer_not_ready) {
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
@ -245,7 +249,8 @@ TEST_F(TestTimerFixture, test_canceled_timer) {
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
@ -278,7 +283,8 @@ TEST_F(TestTimerFixture, test_rostime_time_until_next_call) {
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_ROS_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
ASSERT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(&clock)) << rcl_get_error_string().str;
@ -287,7 +293,8 @@ TEST_F(TestTimerFixture, test_rostime_time_until_next_call) {
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, sec_5, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(&timer)) << rcl_get_error_string().str;
});
@ -316,7 +323,8 @@ TEST_F(TestTimerFixture, test_system_time_to_ros_time) {
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_ROS_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
@ -324,7 +332,8 @@ TEST_F(TestTimerFixture, test_system_time_to_ros_time) {
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, sec_5, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(&timer)) << rcl_get_error_string().str;
});
@ -354,7 +363,8 @@ TEST_F(TestTimerFixture, test_ros_time_to_system_time) {
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_ROS_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
@ -365,7 +375,8 @@ TEST_F(TestTimerFixture, test_ros_time_to_system_time) {
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, sec_5, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(&timer)) << rcl_get_error_string().str;
});
@ -398,7 +409,8 @@ TEST_F(TestTimerFixture, test_ros_time_backwards_jump) {
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_ROS_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
@ -409,7 +421,8 @@ TEST_F(TestTimerFixture, test_ros_time_backwards_jump) {
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, sec_5, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(&timer)) << rcl_get_error_string().str;
});
@ -441,7 +454,8 @@ TEST_F(TestTimerFixture, test_ros_time_wakes_wait) {
rcl_allocator_t allocator = rcl_get_default_allocator();
ASSERT_EQ(RCL_RET_OK, rcl_clock_init(RCL_ROS_TIME, &clock, &allocator)) <<
rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(&clock, sec_1)) << rcl_get_error_string().str;
@ -451,7 +465,8 @@ TEST_F(TestTimerFixture, test_ros_time_wakes_wait) {
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, sec_1, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(&timer)) << rcl_get_error_string().str;
});

57
rcl/test/rcl/test_wait.cpp
View file

@ -48,7 +48,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -131,7 +132,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -141,7 +143,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -151,7 +154,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -161,7 +165,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -185,7 +190,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -195,7 +201,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -219,7 +226,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -228,7 +236,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -254,7 +263,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -264,7 +274,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -274,7 +285,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -285,7 +297,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
&canceled_timer, &clock, this->context_ptr,
RCL_MS_TO_NS(1), nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_timer_fini(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -311,7 +324,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -407,7 +421,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
test_set.thread_id = 0;
}
// Setup safe tear-down.
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
for (auto & test_set : test_sets) {
rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -460,7 +475,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -468,7 +484,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -509,7 +526,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
rcl_ret_t ret = rcl_wait_set_init(
&wait_set, 0, kNumEntities, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -523,7 +541,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
ret = rcl_guard_condition_init(
&guard_conditions[i], this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_guard_condition_fini(&guard_conditions[i]);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

12
rcl/test/test_namespace.cpp
View file

@ -42,7 +42,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -85,7 +86,8 @@ TEST_F(TestNamespaceFixture, test_client_server) {
rcl_service_options_t service_options = rcl_service_get_default_options();
ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -95,7 +97,8 @@ TEST_F(TestNamespaceFixture, test_client_server) {
ret = rcl_client_init(
&unmatched_client, this->node_ptr, ts, unmatched_client_name, &unmatched_client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_client_fini(&unmatched_client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
@ -116,7 +119,8 @@ TEST_F(TestNamespaceFixture, test_client_server) {
ret = rcl_client_init(
&matched_client, this->node_ptr, ts, matched_client_name, &matched_client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_client_fini(&matched_client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

3
rcl_action/test/rcl_action/test_action_client.cpp
View file

@ -32,7 +32,8 @@ protected:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context = rcl_get_zero_initialized_context();

39
rcl_action/test/rcl_action/test_action_communication.cpp
View file

@ -43,7 +43,8 @@ protected:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
context = rcl_get_zero_initialized_context();
@ -210,7 +211,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
// Check that the goal request was received correctly
EXPECT_EQ(outgoing_goal_request.goal.order, incoming_goal_request.goal.order);
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
outgoing_goal_request.goal_id.uuid,
incoming_goal_request.goal_id.uuid));
@ -315,7 +317,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the cancel request was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
outgoing_cancel_request.goal_info.goal_id.uuid,
incoming_cancel_request.goal_info.goal_id.uuid));
EXPECT_EQ(
@ -326,7 +329,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
incoming_cancel_request.goal_info.stamp.nanosec);
// Initialize cancel request
ASSERT_TRUE(action_msgs__msg__GoalInfo__Sequence__init(
ASSERT_TRUE(
action_msgs__msg__GoalInfo__Sequence__init(
&outgoing_cancel_response.goals_canceling, 2));
init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].goal_id.uuid);
outgoing_cancel_response.goals_canceling.data[0].stamp.sec = 102;
@ -437,12 +441,14 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the result request was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
outgoing_result_request.goal_id.uuid,
incoming_result_request.goal_id.uuid));
// Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&outgoing_result_response.result.sequence, 4));
outgoing_result_response.result.sequence.data[0] = 0;
outgoing_result_response.result.sequence.data[1] = 1;
@ -491,7 +497,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
ASSERT_EQ(
outgoing_result_response.result.sequence.size,
incoming_result_response.result.sequence.size);
EXPECT_TRUE(!memcmp(
EXPECT_TRUE(
!memcmp(
outgoing_result_response.result.sequence.data,
incoming_result_response.result.sequence.data,
outgoing_result_response.result.sequence.size));
@ -585,7 +592,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
test_msgs__action__Fibonacci_FeedbackMessage__init(&incoming_feedback);
// Initialize feedback
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&outgoing_feedback.feedback.sequence, 3));
outgoing_feedback.feedback.sequence.data[0] = 0;
outgoing_feedback.feedback.sequence.data[1] = 1;
@ -624,11 +632,13 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that feedback was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
outgoing_feedback.goal_id.uuid,
incoming_feedback.goal_id.uuid));
ASSERT_EQ(outgoing_feedback.feedback.sequence.size, incoming_feedback.feedback.sequence.size);
EXPECT_TRUE(!memcmp(
EXPECT_TRUE(
!memcmp(
outgoing_feedback.feedback.sequence.data,
incoming_feedback.feedback.sequence.data,
outgoing_feedback.feedback.sequence.size));
@ -822,7 +832,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
action_msgs__srv__CancelGoal_Response__init(&incoming_cancel_response);
// Initialize cancel request
ASSERT_TRUE(action_msgs__msg__GoalInfo__Sequence__init(
ASSERT_TRUE(
action_msgs__msg__GoalInfo__Sequence__init(
&outgoing_cancel_response.goals_canceling, 2));
init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].goal_id.uuid);
outgoing_cancel_response.goals_canceling.data[0].stamp.sec = 102;
@ -940,7 +951,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
test_msgs__action__Fibonacci_GetResult_Response__init(&incoming_result_response);
// Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&outgoing_result_response.result.sequence, 4));
outgoing_result_response.result.sequence.data[0] = 0;
outgoing_result_response.result.sequence.data[1] = 1;
@ -1002,7 +1014,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed
test_msgs__action__Fibonacci_FeedbackMessage__init(&incoming_feedback);
// Initialize feedback
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&outgoing_feedback.feedback.sequence, 3));
outgoing_feedback.feedback.sequence.data[0] = 0;
outgoing_feedback.feedback.sequence.data[1] = 1;

48
rcl_action/test/rcl_action/test_action_interaction.cpp
View file

@ -55,7 +55,8 @@ protected:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
context = rcl_get_zero_initialized_context();
@ -244,7 +245,8 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
// Check that the goal request was received correctly
EXPECT_EQ(this->outgoing_goal_request.goal.order, this->incoming_goal_request.goal.order);
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
this->outgoing_goal_request.goal_id.uuid,
this->incoming_goal_request.goal_id.uuid));
@ -304,7 +306,8 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Initialize feedback
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&this->outgoing_feedback.feedback.sequence, 3));
this->outgoing_feedback.feedback.sequence.data[0] = 0;
this->outgoing_feedback.feedback.sequence.data[1] = 1;
@ -346,13 +349,15 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that feedback was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
this->outgoing_feedback.goal_id.uuid,
this->incoming_feedback.goal_id.uuid));
ASSERT_EQ(
this->outgoing_feedback.feedback.sequence.size,
this->incoming_feedback.feedback.sequence.size);
EXPECT_TRUE(!memcmp(
EXPECT_TRUE(
!memcmp(
this->outgoing_feedback.feedback.sequence.data,
this->incoming_feedback.feedback.sequence.data,
this->outgoing_feedback.feedback.sequence.size));
@ -386,12 +391,14 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the result request was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
this->outgoing_result_request.goal_id.uuid,
this->incoming_result_request.goal_id.uuid));
// Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&this->outgoing_result_response.result.sequence, 4));
this->outgoing_result_response.result.sequence.data[0] = 0;
this->outgoing_result_response.result.sequence.data[1] = 1;
@ -443,7 +450,8 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
ASSERT_EQ(
this->outgoing_result_response.result.sequence.size,
this->incoming_result_response.result.sequence.size);
EXPECT_TRUE(!memcmp(
EXPECT_TRUE(
!memcmp(
this->outgoing_result_response.result.sequence.data,
this->incoming_result_response.result.sequence.data,
this->outgoing_result_response.result.sequence.size));
@ -505,7 +513,8 @@ TEST_F(
// Check that the goal request was received correctly
EXPECT_EQ(this->outgoing_goal_request.goal.order, this->incoming_goal_request.goal.order);
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
this->outgoing_goal_request.goal_id.uuid,
this->incoming_goal_request.goal_id.uuid));
@ -565,7 +574,8 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Initialize feedback
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&this->outgoing_feedback.feedback.sequence, 3));
this->outgoing_feedback.feedback.sequence.data[0] = 0;
this->outgoing_feedback.feedback.sequence.data[1] = 1;
@ -607,13 +617,15 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that feedback was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
this->outgoing_feedback.goal_id.uuid,
this->incoming_feedback.goal_id.uuid));
ASSERT_EQ(
this->outgoing_feedback.feedback.sequence.size,
this->incoming_feedback.feedback.sequence.size);
EXPECT_TRUE(!memcmp(
EXPECT_TRUE(
!memcmp(
this->outgoing_feedback.feedback.sequence.data,
this->incoming_feedback.feedback.sequence.data,
this->outgoing_feedback.feedback.sequence.size));
@ -647,12 +659,14 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the result request was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
this->outgoing_result_request.goal_id.uuid,
this->incoming_result_request.goal_id.uuid));
// Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
ASSERT_TRUE(
rosidl_generator_c__int32__Sequence__init(
&this->outgoing_result_response.result.sequence, 4));
this->outgoing_result_response.result.sequence.data[0] = 0;
this->outgoing_result_response.result.sequence.data[1] = 1;
@ -699,7 +713,8 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the cancel request was received correctly
EXPECT_TRUE(uuidcmp(
EXPECT_TRUE(
uuidcmp(
outgoing_cancel_request.goal_info.goal_id.uuid,
incoming_cancel_request.goal_info.goal_id.uuid));
EXPECT_EQ(
@ -808,7 +823,8 @@ TEST_F(
ASSERT_EQ(
this->outgoing_result_response.result.sequence.size,
this->incoming_result_response.result.sequence.size);
EXPECT_TRUE(!memcmp(
EXPECT_TRUE(
!memcmp(
this->outgoing_result_response.result.sequence.data,
this->incoming_result_response.result.sequence.data,
this->outgoing_result_response.result.sequence.size));

3
rcl_action/test/rcl_action/test_action_server.cpp
View file

@ -166,7 +166,8 @@ protected:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
context = rcl_get_zero_initialized_context();

50
rcl_action/test/rcl_action/test_graph.cpp
View file

@ -59,7 +59,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, this->allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->old_context = rcl_get_zero_initialized_context();
@ -244,8 +245,9 @@ TEST_F(
/**
* Type define a get actions function.
*/
typedef std::function<rcl_ret_t(const rcl_node_t *,
rcl_names_and_types_t *)> GetActionsFunc;
typedef std::function<
rcl_ret_t(const rcl_node_t *, rcl_names_and_types_t *)
> GetActionsFunc;
/**
* Extend the TestActionGraphFixture with a multi-node fixture for node discovery and node-graph
@ -268,7 +270,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) <<
rcl_get_error_string().str;
});
@ -283,17 +286,20 @@ public:
&this->remote_node, this->remote_node_name, "", &this->remote_context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
action_func = std::bind(rcl_action_get_names_and_types,
action_func = std::bind(
rcl_action_get_names_and_types,
std::placeholders::_1,
&this->allocator,
std::placeholders::_2);
clients_by_node_func = std::bind(rcl_action_get_client_names_and_types_by_node,
clients_by_node_func = std::bind(
rcl_action_get_client_names_and_types_by_node,
std::placeholders::_1,
&this->allocator,
this->remote_node_name,
"",
std::placeholders::_2);
servers_by_node_func = std::bind(rcl_action_get_server_names_and_types_by_node,
servers_by_node_func = std::bind(
rcl_action_get_server_names_and_types_by_node,
std::placeholders::_1,
&this->allocator,
this->remote_node_name,
@ -321,7 +327,8 @@ public:
rcl_ret_t ret;
rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_namespaces);
@ -379,7 +386,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
client_action_name,
&action_client_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
rcl_get_error_string().str;
});
@ -403,7 +411,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
rcl_clock_t clock;
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
const char * server_action_name = "/test_action_get_names_and_types_server_action_name";
@ -416,7 +425,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
server_action_name,
&action_server_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
rcl_get_error_string().str;
});
@ -452,7 +462,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_b
this->action_name,
&action_client_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
rcl_get_error_string().str;
});
@ -471,7 +482,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_b
rcl_clock_t clock;
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
@ -483,7 +495,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_b
this->action_name,
&action_server_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
rcl_get_error_string().str;
});
@ -510,7 +523,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_b
rcl_clock_t clock;
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
});
rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
@ -522,7 +536,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_b
this->action_name,
&action_server_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
rcl_get_error_string().str;
});
@ -547,7 +562,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_b
this->action_name,
&action_client_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
rcl_get_error_string().str;
});

48
rcl_lifecycle/test/test_default_state_machine.cpp
View file

@ -45,7 +45,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
@ -186,7 +187,8 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
@ -253,7 +255,8 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
}
}
@ -273,7 +276,8 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "applying key %u", *it);
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
}
}
@ -292,7 +296,8 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
}
}
@ -311,7 +316,8 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
}
}
@ -330,7 +336,8 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
}
}
@ -355,7 +362,8 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
}
}
@ -380,7 +388,8 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
}
}
@ -395,12 +404,14 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
}
}
EXPECT_EQ(RCL_RET_OK,
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
@ -473,7 +484,8 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
@ -589,7 +601,8 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
@ -736,7 +749,8 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(RCL_RET_OK,
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
@ -767,7 +781,8 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
@ -807,7 +822,8 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
}

3
rcl_lifecycle/test/test_multiple_instances.cpp
View file

@ -43,7 +43,8 @@ public:
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;

9
rcl_yaml_param_parser/src/parser.c
View file

@ -791,7 +791,8 @@ void rcl_yaml_node_struct_print(
printf(": ");
for (size_t i = 0; i < param_var->bool_array_value->size; i++) {
if (param_var->bool_array_value->values) {
printf("%s, ",
printf(
"%s, ",
(param_var->bool_array_value->values[i]) ? "true" : "false");
}
}
@ -951,7 +952,8 @@ static rcutils_ret_t add_val_to_string_arr(
val_array->data[0U] = value;
} else {
/// Increase the array size by one and add the new value
val_array->data = allocator.reallocate(val_array->data,
val_array->data = allocator.reallocate(
val_array->data,
((val_array->size + 1U) * sizeof(char *)), allocator.state);
if (NULL == val_array->data) {
RCUTILS_SAFE_FWRITE_TO_STDERR("Error allocating mem");
@ -1370,7 +1372,8 @@ static rcutils_ret_t parse_key(
ret = RCUTILS_RET_ERROR;
break;
}
ret = replace_ns(ns_tracker, parameter_ns, (ns_tracker->num_parameter_ns + 1U),
ret = replace_ns(
ns_tracker, parameter_ns, (ns_tracker->num_parameter_ns + 1U),
NS_TYPE_PARAM, allocator);
if (RCUTILS_RET_OK != ret) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(

90
rcl_yaml_param_parser/test/test_parse_yaml.cpp
View file

@ -31,18 +31,21 @@ TEST(test_parser, correct_syntax) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "correct_config.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params_hdl);
});
bool res = rcl_parse_yaml_file(path, params_hdl);
@ -50,7 +53,8 @@ TEST(test_parser, correct_syntax) {
char * another_path = rcutils_join_path(test_path, "overlay.yaml", allocator);
ASSERT_TRUE(NULL != another_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(another_path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(another_path)) << "No test YAML file found at " << another_path;
@ -59,7 +63,8 @@ TEST(test_parser, correct_syntax) {
rcl_params_t * copy_of_params_hdl = rcl_yaml_node_struct_copy(params_hdl);
ASSERT_TRUE(NULL != copy_of_params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(copy_of_params_hdl);
});
@ -189,18 +194,21 @@ TEST(test_file_parser, string_array_with_quoted_number) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "string_array_with_quoted_number.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params_hdl);
});
bool res = rcl_parse_yaml_file(path, params_hdl);
@ -227,18 +235,21 @@ TEST(test_file_parser, multi_ns_correct_syntax) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "multi_ns_correct.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params_hdl);
});
bool res = rcl_parse_yaml_file(path, params_hdl);
@ -252,18 +263,21 @@ TEST(test_file_parser, root_ns) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "root_ns.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_yaml_node_struct_fini(params_hdl);
});
bool res = rcl_parse_yaml_file(path, params_hdl);
@ -281,12 +295,14 @@ TEST(test_file_parser, seq_map1) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "seq_map1.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@ -303,12 +319,14 @@ TEST(test_file_parser, seq_map2) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "seq_map2.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@ -325,12 +343,14 @@ TEST(test_file_parser, params_with_no_node) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "params_with_no_node.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@ -347,12 +367,14 @@ TEST(test_file_parser, no_alias_support) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "no_alias_support.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@ -369,12 +391,14 @@ TEST(test_file_parser, empty_string) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "empty_string.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@ -391,12 +415,14 @@ TEST(test_file_parser, no_value1) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "no_value1.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@ -413,12 +439,14 @@ TEST(test_file_parser, indented_ns) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "indented_name_space.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@ -436,12 +464,14 @@ TEST(test_file_parser, maximum_number_parameters) {
rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * test_path = rcutils_join_path(cur_dir, "test", allocator);
ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(test_path, allocator.state);
});
char * path = rcutils_join_path(test_path, "max_num_params.yaml", allocator);
ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(path, allocator.state);
});
ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;