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[rcl action] Addresses peer review comments (#317)

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This commit is contained in:
Michel Hidalgo 2018-11-01 10:52:42 -03:00
parent 8b65abeed5
commit 55d83f27d7
4 changed files with 130 additions and 69 deletions
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1
rcl_action/CMakeLists.txt
View file

@ -96,6 +96,7 @@ if(BUILD_TESTING)
target_link_libraries(test_types
${PROJECT_NAME}
)
endif()
ament_add_gtest(test_names
test/rcl_action/test_names.cpp
)

10
rcl_action/include/rcl_action/names.h
View file

@ -46,7 +46,7 @@ extern "C"
* \param[in] allocator A valid allocator to be used.
* \param[out] goal_service_name Either an allocated string with the action
* goal service name, or `NULL` if the function failed to allocate memory
* for it.
* for it. Must refer to a `NULL` pointer upon call.
* \return `RCL_RET_OK` if the action goal service name was returned, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
@ -78,7 +78,7 @@ rcl_action_get_goal_service_name(
* \param[in] allocator A valid allocator to be used.
* \param[out] cancel_service_name Either an allocated string with the action
* cancel service name, or `NULL` if the function failed to allocate memory
* for it.
* for it. Must refer to a `NULL` pointer upon call.
* \return `RCL_RET_OK` if the action cancel service name was returned, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
@ -110,7 +110,7 @@ rcl_action_get_cancel_service_name(
* \param[in] allocator A valid allocator to be used.
* \param[out] result_service_name Either an allocated string with the action
* result service name, or `NULL` if the function failed to allocate memory
* for it.
* for it. Must refer to a `NULL` pointer upon call.
* \return `RCL_RET_OK` if the action result service name was returned, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
@ -142,7 +142,7 @@ rcl_action_get_result_service_name(
* \param[in] allocator A valid allocator to be used.
* \param[out] result_service_name Either an allocated string with the action
* feedback topic name, or `NULL` if the function failed to allocate memory
* for it.
* for it. Must refer to a `NULL` pointer upon call.
* \return `RCL_RET_OK` if the action feedback topic name was returned, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
@ -174,7 +174,7 @@ rcl_action_get_feedback_topic_name(
* \param[in] allocator A valid allocator to be used.
* \param[out] result_service_name Either an allocated string with the action
* status topic name, or `NULL` if the function failed to allocate memory
* for it.
* for it. Must refer to a `NULL` pointer upon call.
* \return `RCL_RET_OK` if the action status topic name was returned, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.

31
rcl_action/src/rcl_action/names.c
View file

@ -31,8 +31,12 @@ rcl_action_get_goal_service_name(
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(goal_service_name, RCL_RET_INVALID_ARGUMENT, allocator);
if (NULL != *goal_service_name) {
RCL_SET_ERROR_MSG("writing action goal service name may leak memory", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
*goal_service_name = rcutils_format_string(allocator, "%s/_action/send_goal", action_name);
if (*goal_service_name == NULL) {
if (NULL == *goal_service_name) {
RCL_SET_ERROR_MSG("failed to allocate memory for action goal service name", allocator);
return RCL_RET_BAD_ALLOC;
}
@ -48,8 +52,12 @@ rcl_action_get_cancel_service_name(
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(cancel_service_name, RCL_RET_INVALID_ARGUMENT, allocator);
if (NULL != *cancel_service_name) {
RCL_SET_ERROR_MSG("writing action cancel service name may leak memory", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
*cancel_service_name = rcutils_format_string(allocator, "%s/_action/cancel_goal", action_name);
if (*cancel_service_name == NULL) {
if (NULL == *cancel_service_name) {
RCL_SET_ERROR_MSG("failed to allocate memory for action cancel service name", allocator);
return RCL_RET_BAD_ALLOC;
}
@ -65,8 +73,13 @@ rcl_action_get_result_service_name(
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(result_service_name, RCL_RET_INVALID_ARGUMENT, allocator);
if (NULL != *result_service_name) {
RCL_SET_ERROR_MSG("writing action result service name may leak memory", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
*result_service_name = rcutils_format_string(allocator, "%s/_action/get_result", action_name);
if (*result_service_name == NULL) {
if (NULL == *result_service_name) {
RCL_SET_ERROR_MSG("failed to allocate memory for action result service name", allocator);
return RCL_RET_BAD_ALLOC;
}
@ -82,8 +95,12 @@ rcl_action_get_feedback_topic_name(
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(feedback_topic_name, RCL_RET_INVALID_ARGUMENT, allocator);
if (NULL != *feedback_topic_name) {
RCL_SET_ERROR_MSG("writing action feedback topic name may leak memory", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
*feedback_topic_name = rcutils_format_string(allocator, "%s/_action/feedback", action_name);
if (*feedback_topic_name == NULL) {
if (NULL == *feedback_topic_name) {
RCL_SET_ERROR_MSG("failed to allocate memory for action feedback topic name", allocator);
return RCL_RET_BAD_ALLOC;
}
@ -99,8 +116,12 @@ rcl_action_get_status_topic_name(
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(action_name, RCL_RET_INVALID_ARGUMENT, allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(status_topic_name, RCL_RET_INVALID_ARGUMENT, allocator);
if (NULL != *status_topic_name) {
RCL_SET_ERROR_MSG("writing action status topic name may leak memory", allocator);
return RCL_RET_INVALID_ARGUMENT;
}
*status_topic_name = rcutils_format_string(allocator, "%s/_action/status", action_name);
if (*status_topic_name == NULL) {
if (NULL == *status_topic_name) {
RCL_SET_ERROR_MSG("failed to allocate memory for action status topic name", allocator);
return RCL_RET_BAD_ALLOC;
}

157
rcl_action/test/rcl_action/test_names.cpp
View file

@ -14,78 +14,117 @@
#include <gtest/gtest.h>
#include <iostream>
#include "rcl_action/names.h"
#include "rcl/allocator.h"
#include "rcl/types.h"
TEST(TestActionNames, test_action_goal_service_name)
struct ActionDerivedNameTestSubject
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
const char * action_name;
const char * expected_action_derived_name;
rcl_ret_t (* get_action_derived_name)(const char *, rcl_allocator_t, char **);
const char * subject_name;
};
char * action_goal_service_name;
ret = rcl_action_get_goal_service_name(
action_name, default_allocator, &action_goal_service_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/send_goal", action_goal_service_name);
default_allocator.deallocate(action_goal_service_name, default_allocator.state);
std::ostream & operator<<(std::ostream & os, const ActionDerivedNameTestSubject & test_subject)
{
return os << test_subject.subject_name;
}
TEST(TestActionNames, test_action_cancel_service_name)
class TestActionDerivedName
: public ::testing::TestWithParam<ActionDerivedNameTestSubject>
{
protected:
void SetUp() override
{
test_subject = GetParam();
}
ActionDerivedNameTestSubject test_subject;
};
TEST_P(TestActionDerivedName, validate_action_derived_getter)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char dummy_char;
char * action_derived_name;
rcl_allocator_t default_allocator =
rcl_get_default_allocator();
char * action_cancel_service_name;
ret = rcl_action_get_cancel_service_name(
action_name, default_allocator, &action_cancel_service_name);
action_derived_name = NULL;
const char * const invalid_action_name = NULL;
ret = test_subject.get_action_derived_name(
invalid_action_name, default_allocator,
&action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = NULL;
rcl_allocator_t invalid_allocator =
(rcl_allocator_t)rcutils_get_zero_initialized_allocator();
ret = test_subject.get_action_derived_name(
test_subject.action_name, invalid_allocator,
&action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = NULL;
char ** invalid_ptr_to_action_derived_name = NULL;
ret = test_subject.get_action_derived_name(
test_subject.action_name, default_allocator,
invalid_ptr_to_action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = &dummy_char;
ret = test_subject.get_action_derived_name(
test_subject.action_name, default_allocator,
&action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = NULL;
ret = test_subject.get_action_derived_name(
test_subject.action_name, default_allocator,
&action_derived_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/cancel_goal", action_cancel_service_name);
default_allocator.deallocate(action_cancel_service_name, default_allocator.state);
EXPECT_STREQ(test_subject.expected_action_derived_name, action_derived_name);
default_allocator.deallocate(action_derived_name, default_allocator.state);
}
TEST(TestActionNames, test_action_result_service_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
const ActionDerivedNameTestSubject action_service_and_topic_subjects[] = {
{
"test_it", // action_name
"test_it/_action/send_goal", // expected_action_derived_name
rcl_action_get_goal_service_name, // get_action_derived_name
"goal_service_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/cancel_goal", // expected_action_derived_name
rcl_action_get_cancel_service_name, // get_action_derived_name
"cancel_service_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/get_result", // expected_action_derived_name
rcl_action_get_result_service_name, // get_action_derived_name
"result_service_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/feedback", // expected_action_derived_name
rcl_action_get_feedback_topic_name, // get_action_derived_name
"feedback_topic_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/status", // expected_action_derived_name
rcl_action_get_status_topic_name, // get_action_derived_name
"status_topic_name_test" // subject_name
}
};
char * action_result_service_name;
ret = rcl_action_get_result_service_name(
action_name, default_allocator, &action_result_service_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/get_result", action_result_service_name);
default_allocator.deallocate(action_result_service_name, default_allocator.state);
}
TEST(TestActionNames, test_action_feedback_topic_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_feedback_topic_name;
ret = rcl_action_get_feedback_topic_name(
action_name, default_allocator, &action_feedback_topic_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/feedback", action_feedback_topic_name);
default_allocator.deallocate(action_feedback_topic_name, default_allocator.state);
}
TEST(TestActionNames, test_action_status_topic_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_status_topic_name;
ret = rcl_action_get_status_topic_name(
action_name, default_allocator, &action_status_topic_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/status", action_status_topic_name);
default_allocator.deallocate(action_status_topic_name, default_allocator.state);
}
INSTANTIATE_TEST_CASE_P(
TestActionServiceAndTopicNames, TestActionDerivedName,
::testing::ValuesIn(action_service_and_topic_subjects),
::testing::PrintToStringParamName());