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[rcl_action] Store allocator used for message initialization in the message struct

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This relieves the user from providing the correct allocator when finalizing messages.
This commit is contained in:
Jacob Perron 2018-10-31 17:45:51 -07:00
parent e64fcaf5a8
commit 88eaa3a926
3 changed files with 61 additions and 68 deletions
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61
rcl_action/test/rcl_action/test_types.cpp
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@ -47,8 +47,8 @@ TEST(TestActionTypes, test_get_zero_initialized_goal_status_array)
{
rcl_action_goal_status_array_t status_array =
rcl_action_get_zero_initialized_goal_status_array();
EXPECT_EQ(status_array.status_list.size, 0u);
EXPECT_EQ(status_array.status_list.data, nullptr);
EXPECT_EQ(status_array.msg.status_list.size, 0u);
EXPECT_EQ(status_array.msg.status_list.data, nullptr);
}
TEST(TestActionTypes, test_get_zero_inititalized_cancel_request)
@ -65,8 +65,8 @@ TEST(TestActionTypes, test_get_zero_inititalized_cancel_request)
TEST(TestActionTypes, test_get_zero_initialized_cancel_response)
{
rcl_action_cancel_response_t cancel_response = rcl_action_get_zero_initialized_cancel_response();
EXPECT_EQ(cancel_response.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.goals_canceling.data, nullptr);
EXPECT_EQ(cancel_response.msg.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.msg.goals_canceling.data, nullptr);
}
TEST(TestActionTypes, test_init_fini_goal_status_array)
@ -84,38 +84,33 @@ TEST(TestActionTypes, test_init_fini_goal_status_array)
invalid_allocator.allocate = nullptr;
rcl_action_goal_status_array_t status_array =
rcl_action_get_zero_initialized_goal_status_array();
ASSERT_EQ(status_array.status_list.size, 0u);
ASSERT_EQ(status_array.msg.status_list.size, 0u);
ret = rcl_action_goal_status_array_init(&status_array, num_status, invalid_allocator);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(status_array.status_list.size, 0u);
EXPECT_EQ(status_array.status_list.data, nullptr);
EXPECT_EQ(status_array.msg.status_list.size, 0u);
EXPECT_EQ(status_array.msg.status_list.data, nullptr);
// Initialize with zero size
status_array = rcl_action_get_zero_initialized_goal_status_array();
ASSERT_EQ(status_array.status_list.size, 0u);
ASSERT_EQ(status_array.msg.status_list.size, 0u);
ret = rcl_action_goal_status_array_init(&status_array, 0, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(status_array.status_list.size, 0u);
EXPECT_EQ(status_array.status_list.data, nullptr);
EXPECT_EQ(status_array.msg.status_list.size, 0u);
EXPECT_EQ(status_array.msg.status_list.data, nullptr);
// Initialize with valid arguments
status_array = rcl_action_get_zero_initialized_goal_status_array();
ASSERT_EQ(status_array.status_list.size, 0u);
ASSERT_EQ(status_array.msg.status_list.size, 0u);
ret = rcl_action_goal_status_array_init(&status_array, num_status, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(status_array.status_list.size, num_status);
EXPECT_NE(status_array.status_list.data, nullptr);
EXPECT_EQ(status_array.msg.status_list.size, num_status);
EXPECT_NE(status_array.msg.status_list.data, nullptr);
// Finalize with invalid status array
ret = rcl_action_goal_status_array_fini(nullptr, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
// Finalize with invalid allocator
ret = rcl_action_goal_status_array_fini(&status_array, invalid_allocator);
ret = rcl_action_goal_status_array_fini(nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
// Finalize with valid arguments
ret = rcl_action_goal_status_array_fini(&status_array, rcl_get_default_allocator());
ret = rcl_action_goal_status_array_fini(&status_array);
EXPECT_EQ(ret, RCL_RET_OK);
}
@ -133,40 +128,36 @@ TEST(TestActionTypes, test_init_fini_cancel_response)
rcl_allocator_t invalid_allocator = rcl_get_default_allocator();
invalid_allocator.allocate = nullptr;
rcl_action_cancel_response_t cancel_response = rcl_action_get_zero_initialized_cancel_response();
ASSERT_EQ(cancel_response.goals_canceling.size, 0u);
ASSERT_EQ(cancel_response.msg.goals_canceling.size, 0u);
ret = rcl_action_cancel_response_init(&cancel_response, num_goals_canceling, invalid_allocator);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(cancel_response.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.goals_canceling.data, nullptr);
EXPECT_EQ(cancel_response.msg.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.msg.goals_canceling.data, nullptr);
// Initialize with zero size
cancel_response = rcl_action_get_zero_initialized_cancel_response();
ASSERT_EQ(cancel_response.goals_canceling.size, 0u);
ASSERT_EQ(cancel_response.msg.goals_canceling.size, 0u);
ret = rcl_action_cancel_response_init(&cancel_response, 0, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(cancel_response.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.goals_canceling.data, nullptr);
EXPECT_EQ(cancel_response.msg.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.msg.goals_canceling.data, nullptr);
// Initialize with valid arguments
cancel_response = rcl_action_get_zero_initialized_cancel_response();
ASSERT_EQ(cancel_response.goals_canceling.size, 0u);
ASSERT_EQ(cancel_response.msg.goals_canceling.size, 0u);
ret = rcl_action_cancel_response_init(
&cancel_response,
num_goals_canceling,
rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(cancel_response.goals_canceling.size, num_goals_canceling);
EXPECT_NE(cancel_response.goals_canceling.data, nullptr);
EXPECT_EQ(cancel_response.msg.goals_canceling.size, num_goals_canceling);
EXPECT_NE(cancel_response.msg.goals_canceling.data, nullptr);
// Finalize with invalid cancel response
ret = rcl_action_cancel_response_fini(nullptr, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
// Finalize with invalid allocator
ret = rcl_action_cancel_response_fini(&cancel_response, invalid_allocator);
ret = rcl_action_cancel_response_fini(nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
// Finalize with valid arguments
ret = rcl_action_cancel_response_fini(&cancel_response, rcl_get_default_allocator());
ret = rcl_action_cancel_response_fini(&cancel_response);
EXPECT_EQ(ret, RCL_RET_OK);
}