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Increase rcl_lifecycle test coverage and add more safety checks (#649)

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* Increase test coverage and add more safety checks

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* More coverage

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Concatenating error messages

Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com>

* PR Fixup

Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com>

* Forgot a

Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com>

* PR Fixup

Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com>

* Moving var to top

Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com>

Co-authored-by: Stephen Brawner <stephenbrawner@verbsurgical.com>
This commit is contained in:
brawner 2020-05-22 14:44:11 -07:00 • committed by GitHub
parent 30e0536a1d
commit 7146919c3f
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7 changed files with 591 additions and 19 deletions
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24
rcl_lifecycle/src/default_state_machine.c
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@ -650,13 +650,15 @@ _register_transitions(
return ret;
}
// default implementation as despicted on
// default implementation as depicted on
// design.ros2.org
rcl_ret_t
rcl_lifecycle_init_default_state_machine(
rcl_lifecycle_state_machine_t * state_machine, const rcutils_allocator_t * allocator)
{
rcl_ret_t ret = RCL_RET_ERROR;
// Used for concatenating error messages in the fail: block.
const char * fail_error_message = "";
// ***************************
// register all primary states
@ -691,8 +693,26 @@ rcl_lifecycle_init_default_state_machine(
return ret;
fail:
// If rcl_lifecycle_transition_map_fini() fails, it will clobber the error string here.
// Concatenate the error strings if that happens
if (rcl_error_is_set()) {
fail_error_message = rcl_get_error_string().str;
}
if (rcl_lifecycle_transition_map_fini(&state_machine->transition_map, allocator) != RCL_RET_OK) {
RCL_SET_ERROR_MSG("could not free lifecycle transition map. Leaking memory!\n");
const char * fini_error = "";
if (rcl_error_is_set()) {
fini_error = rcl_get_error_string().str;
rcl_reset_error();
}
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Freeing transition map failed while handling a previous error. Leaking memory!"
"\nOriginal error:\n\t%s\nError encountered in rcl_lifecycle_transition_map_fini():\n\t%s\n",
fail_error_message, fini_error);
}
if (!rcl_error_is_set()) {
RCL_SET_ERROR_MSG("Unspecified error in default_state_machine _register_transitions()");
}
return RCL_RET_ERROR;
}