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pass context to wait set, and fini rmw context (#373)

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* pass context to wait set, and fini rmw context

Signed-off-by: William Woodall <william@osrfoundation.org>

* use identifier rather than impl to check init status

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2019-01-24 19:43:49 -08:00 • committed by GitHub
parent c6788e4e54
commit 7f6b914ac4
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
14 changed files with 87 additions and 32 deletions
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5
rcl/include/rcl/wait.h
View file

@ -85,7 +85,7 @@ rcl_get_zero_initialized_wait_set(void);
*
* rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
* rcl_ret_t ret =
* rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, rcl_get_default_allocator());
* rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, &context, rcl_get_default_allocator());
* // ... error handling, then use it, then call the matching fini:
* ret = rcl_wait_set_fini(&wait_set);
* // ... error handling
@ -105,9 +105,11 @@ rcl_get_zero_initialized_wait_set(void);
* \param[in] number_of_timers non-zero size of the timers set
* \param[in] number_of_clients non-zero size of the clients set
* \param[in] number_of_services non-zero size of the services set
* \param[in] context the context that the wait set should be associated with
* \param[in] allocator the allocator to use when allocating space in the sets
* \return `RCL_RET_OK` if the wait set is initialized successfully, or
* \return `RCL_RET_ALREADY_INIT` if the wait set is not zero initialized, or
* \return `RCL_RET_NOT_INIT` if the given context is invalid, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
@ -122,6 +124,7 @@ rcl_wait_set_init(
size_t number_of_timers,
size_t number_of_clients,
size_t number_of_services,
rcl_context_t * context,
rcl_allocator_t allocator);
/// Finalize a rcl wait set.

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

@ -134,6 +134,19 @@ __cleanup_context(rcl_context_t * context)
}
}
// clean up rmw_context
if (NULL != context->impl->rmw_context.implementation_identifier) {
rmw_ret_t rmw_ret = rmw_context_fini(&(context->impl->rmw_context));
if (RMW_RET_OK != rmw_ret) {
RCUTILS_SAFE_FWRITE_TO_STDERR(
"[rcl|init.c:" RCUTILS_STRINGIFY(__LINE__)
"] failed to finalize rmw context while cleaning up context, memory may be leaked: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcutils_get_error_string().str);
RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
rcutils_reset_error();
}
}
// clean up copy of argv if valid
if (NULL != context->impl->argv) {
int64_t i;

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

@ -76,6 +76,9 @@ rcl_init(
RCL_CHECK_FOR_NULL_WITH_MSG(
context->impl, "failed to allocate memory for context impl", return RCL_RET_BAD_ALLOC);
// Zero initialize rmw context first so its validity can by checked in cleanup.
context->impl->rmw_context = rmw_get_zero_initialized_context();
// Copy the options into the context for future reference.
rcl_ret_t ret = rcl_init_options_copy(options, &(context->impl->init_options));
if (RCL_RET_OK != ret) {
@ -132,7 +135,6 @@ rcl_init(
context->impl->init_options.impl->rmw_init_options.instance_id = next_instance_id;
// Initialize rmw_init.
context->impl->rmw_context = rmw_get_zero_initialized_context();
rmw_ret_t rmw_ret = rmw_init(
&(context->impl->init_options.impl->rmw_init_options),
&(context->impl->rmw_context));

26
rcl/src/rcl/wait.c
View file

@ -30,6 +30,8 @@ extern "C"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
#include "./context_impl.h"
typedef struct rcl_wait_set_impl_t
{
// number of subscriptions that have been added to the wait set
@ -47,6 +49,9 @@ typedef struct rcl_wait_set_impl_t
rmw_wait_set_t * rmw_wait_set;
// number of timers that have been added to the wait set
size_t timer_index;
// context with which the wait set is associated
rcl_context_t * context;
// allocator used in the wait set
rcl_allocator_t allocator;
} rcl_wait_set_impl_t;
@ -97,6 +102,7 @@ rcl_wait_set_init(
size_t number_of_timers,
size_t number_of_clients,
size_t number_of_services,
rcl_context_t * context,
rcl_allocator_t allocator)
{
RCUTILS_LOG_DEBUG_NAMED(
@ -112,6 +118,14 @@ rcl_wait_set_init(
RCL_SET_ERROR_MSG("wait_set already initialized, or memory was uninitialized.");
return RCL_RET_ALREADY_INIT;
}
// Make sure rcl has been initialized.
RCL_CHECK_ARGUMENT_FOR_NULL(context, RCL_RET_INVALID_ARGUMENT);
if (!rcl_context_is_valid(context)) {
RCL_SET_ERROR_MSG(
"the given context is not valid, "
"either rcl_init() was not called or rcl_shutdown() was called.");
return RCL_RET_NOT_INIT;
}
// Allocate space for the implementation struct.
wait_set->impl = (rcl_wait_set_impl_t *)allocator.allocate(
sizeof(rcl_wait_set_impl_t), allocator.state);
@ -127,13 +141,19 @@ rcl_wait_set_init(
wait_set->impl->rmw_services.services = NULL;
wait_set->impl->rmw_services.service_count = 0;
wait_set->impl->rmw_wait_set = rmw_create_wait_set(
2 * number_of_subscriptions + number_of_guard_conditions + number_of_clients +
number_of_services);
size_t num_conditions =
(2 * number_of_subscriptions) +
number_of_guard_conditions +
number_of_clients +
number_of_services;
wait_set->impl->rmw_wait_set = rmw_create_wait_set(&(context->impl->rmw_context), num_conditions);
if (!wait_set->impl->rmw_wait_set) {
goto fail;
}
// Set context.
wait_set->impl->context = context;
// Set allocator.
wait_set->impl->allocator = allocator;
// Initialize subscription space.

5
rcl/test/rcl/client_fixture.cpp
View file

@ -57,11 +57,12 @@ wait_for_server_to_be_available(
bool
wait_for_client_to_be_ready(
rcl_client_t * client,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, rcl_get_default_allocator());
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, context, rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str);
@ -207,7 +208,7 @@ int main(int argc, char ** argv)
memset(&client_response, 0, sizeof(test_msgs__srv__Primitives_Response));
test_msgs__srv__Primitives_Response__init(&client_response);
if (!wait_for_client_to_be_ready(&client, 1000, 100)) {
if (!wait_for_client_to_be_ready(&client, &context, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready");
return -1;
}

5
rcl/test/rcl/service_fixture.cpp
View file

@ -30,11 +30,12 @@
bool
wait_for_service_to_be_ready(
rcl_service_t * service,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, context, rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str);
@ -156,7 +157,7 @@ int main(int argc, char ** argv)
// Block until a client request comes in.
if (!wait_for_service_to_be_ready(&service, 1000, 100)) {
if (!wait_for_service_to_be_ready(&service, &context, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Service never became ready");
return -1;
}

3
rcl/test/rcl/test_count_matched.cpp
View file

@ -121,7 +121,8 @@ public:
this->wait_set_ptr = new rcl_wait_set_t;
*this->wait_set_ptr = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(this->wait_set_ptr, 0, 1, 0, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(
this->wait_set_ptr, 0, 1, 0, 0, 0, this->context_ptr, rcl_get_default_allocator());
}
void TearDown()

3
rcl/test/rcl/test_graph.cpp
View file

@ -98,7 +98,8 @@ public:
this->wait_set_ptr = new rcl_wait_set_t;
*this->wait_set_ptr = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(this->wait_set_ptr, 0, 1, 0, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(
this->wait_set_ptr, 0, 1, 0, 0, 0, this->context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

7
rcl/test/rcl/test_service.cpp
View file

@ -78,12 +78,13 @@ public:
void
wait_for_service_to_be_ready(
rcl_service_t * service,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms,
bool & success)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, context, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
@ -174,7 +175,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
bool success;
wait_for_service_to_be_ready(&service, 10, 100, success);
wait_for_service_to_be_ready(&service, context_ptr, 10, 100, success);
ASSERT_TRUE(success);
// This scope simulates the service responding in a different context so that we can
@ -201,7 +202,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
ret = rcl_send_response(&service, &header, &service_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
wait_for_service_to_be_ready(&service, 10, 100, success);
wait_for_service_to_be_ready(&service, context_ptr, 10, 100, success);
// Initialize the response owned by the client and take the response.
test_msgs__srv__Primitives_Response client_response;

7
rcl/test/rcl/test_subscription.cpp
View file

@ -78,12 +78,13 @@ public:
void
wait_for_subscription_to_be_ready(
rcl_subscription_t * subscription,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms,
bool & success)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, rcl_get_default_allocator());
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 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({
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
@ -166,7 +167,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
bool success;
wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100, success);
ASSERT_TRUE(success);
{
test_msgs__msg__Primitives msg;
@ -217,7 +218,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
bool success;
wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100, success);
ASSERT_TRUE(success);
{
test_msgs__msg__Primitives msg;

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

@ -84,7 +84,7 @@ TEST_F(TestTimerFixture, test_two_timers) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 2, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(&wait_set, 0, 0, 2, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
@ -140,7 +140,7 @@ TEST_F(TestTimerFixture, test_two_timers_ready_before_timeout) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 2, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(&wait_set, 0, 0, 2, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
@ -191,7 +191,7 @@ TEST_F(TestTimerFixture, test_timer_not_ready) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
@ -239,7 +239,7 @@ TEST_F(TestTimerFixture, test_canceled_timer) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
@ -459,7 +459,7 @@ TEST_F(TestTimerFixture, test_ros_time_wakes_wait) {
std::thread wait_thr([&](void) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_wait_set_add_timer(&wait_set, &timer, NULL)) <<

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

@ -68,7 +68,8 @@ public:
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
// Initialize a wait set with a subscription and then resize it to zero.
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_resize(&wait_set, 0u, 0u, 0u, 0u, 0u);
@ -87,7 +88,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
// Test rcl_wait with a positive finite timeout value (1ms)
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
int64_t timeout = RCL_MS_TO_NS(10); // nanoseconds
@ -106,7 +108,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
// Check that a timer overrides a negative timeout value (blocking forever)
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Add a dummy guard condition to avoid an error
@ -152,7 +155,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
// Test rcl_wait with a timeout value of 0 (non-blocking)
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Add a dummy guard condition to avoid an error
@ -184,7 +188,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
// Test rcl_wait with a timeout value of 0 (non-blocking) and an already triggered guard condition
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered_guard_condition) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
@ -217,7 +222,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
// Check that a canceled timer doesn't wake up rcl_wait
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Add a dummy guard condition to avoid an error
@ -269,7 +275,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
// Test rcl_wait_set_t with excess capacity works.
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
int64_t timeout = 1;
@ -353,7 +360,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// setup the wait set
test_set.wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&test_set.wait_set, 0, 1, 0, 0, 0, rcl_get_default_allocator());
ret = rcl_wait_set_init(
&test_set.wait_set, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&test_set.wait_set, &test_set.guard_condition, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -410,7 +418,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
// triggering a guard condition in a separate thread
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, rcl_get_default_allocator());
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(
@ -458,7 +467,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
const size_t kNumEntities = 3u;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(
&wait_set, 0, kNumEntities, 0, 0, 0, rcl_get_default_allocator());
&wait_set, 0, kNumEntities, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Initialize to invalid value

1
rcl_action/test/rcl_action/test_action_communication.cpp
View file

@ -98,6 +98,7 @@ protected:
num_timers_server + num_timers_client,
num_clients_server + num_clients_client,
num_services_server + num_services_client,
&context,
rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
}

1
rcl_action/test/rcl_action/test_action_interaction.cpp
View file

@ -110,6 +110,7 @@ protected:
num_timers_server + num_timers_client,
num_clients_server + num_clients_client,
num_services_server + num_services_client,
&context,
rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
}