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refactor init to not be global (#336)

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* refactor init to not be global

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

* style changes

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

* refactor to hide use of C11 atomics in implementation

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

* fix new action tests

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

* use alternative atomic init for Windows support

* updates after rebase

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

* cleanup rmw_init_options before copying

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

* fix two bugs in new init code

* relax validity checks in a few places to facilitate post shutdown cleanup

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

* fixing tests for new API behavior

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

* to allocator -> to allocate

* acutally call rmw_shutdown() and address review comments

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2018-11-29 21:32:54 -08:00 • committed by GitHub
parent dfaa412bbf
commit 97ad0013e2
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
55 changed files with 1951 additions and 629 deletions
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2
rcl_action/CMakeLists.txt
View file

@ -77,6 +77,7 @@ install(TARGETS ${PROJECT_NAME}
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_lint_auto REQUIRED)
find_package(osrf_testing_tools_cpp REQUIRED)
find_package(test_msgs REQUIRED)
ament_lint_auto_find_test_dependencies()
ament_find_gtest()
@ -87,6 +88,7 @@ if(BUILD_TESTING)
if(TARGET test_action_client)
target_include_directories(test_action_client PUBLIC
include
${osrf_testing_tools_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_action_client
${PROJECT_NAME}

1
rcl_action/package.xml
View file

@ -24,6 +24,7 @@
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>test_msgs</test_depend>
<export>

20
rcl_action/test/rcl_action/test_action_client.cpp
View file

@ -19,6 +19,7 @@
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "test_msgs/action/fibonacci.h"
class TestActionClientBaseFixture : public ::testing::Test
@ -26,12 +27,22 @@ class TestActionClientBaseFixture : public ::testing::Test
protected:
void SetUp() override
{
rcl_ret_t ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_ret_t ret;
{
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({
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &this->context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
this->node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
const char * node_name = "test_action_client_node";
ret = rcl_node_init(&this->node, node_name, "", &node_options);
ret = rcl_node_init(&this->node, node_name, "", &this->context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
@ -39,10 +50,11 @@ protected:
{
rcl_ret_t ret = rcl_node_fini(&this->node);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_shutdown();
ret = rcl_shutdown(&this->context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
rcl_context_t context;
rcl_node_t node;
};

14
rcl_action/test/rcl_action/test_action_communication.cpp
View file

@ -37,11 +37,16 @@ protected:
void SetUp() override
{
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret = rcl_init(0, nullptr, allocator);
rcl_ret_t ret;
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;
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;
this->node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&this->node, "test_action_communication_node", "", &node_options);
ret = rcl_node_init(&this->node, "test_action_communication_node", "", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_clock_init(RCL_STEADY_TIME, &this->clock, &allocator);
const rosidl_action_type_support_t * ts = ROSIDL_GET_ACTION_TYPE_SUPPORT(
@ -107,11 +112,11 @@ protected:
ret = rcl_action_client_fini(&this->action_client, &this->node);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_node_fini(&this->node);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&this->wait_set);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
}
@ -131,6 +136,7 @@ protected:
rcl_action_client_t action_client;
rcl_action_server_t action_server;
rcl_context_t context;
rcl_node_t node;
rcl_clock_t clock;

23
rcl_action/test/rcl_action/test_action_server.cpp
View file

@ -26,12 +26,17 @@
TEST(TestActionServerInitFini, test_action_server_init_fini)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret = rcl_init(0, nullptr, allocator);
rcl_ret_t ret;
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;
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;
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&node, "test_action_server_node", "", &node_options);
ret = rcl_node_init(&node, "test_action_server_node", "", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_clock_t clock;
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
@ -133,7 +138,7 @@ TEST(TestActionServerInitFini, test_action_server_init_fini)
ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_shutdown();
ret = rcl_shutdown(&context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
@ -143,11 +148,16 @@ protected:
void SetUp() override
{
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret = rcl_init(0, nullptr, allocator);
rcl_ret_t ret;
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;
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;
this->node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&this->node, "test_action_server_node", "", &node_options);
ret = rcl_node_init(&this->node, "test_action_server_node", "", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_clock_init(RCL_ROS_TIME, &this->clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -170,7 +180,7 @@ protected:
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_node_fini(&this->node);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown();
ret = rcl_shutdown(&context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
@ -189,6 +199,7 @@ protected:
}
rcl_action_server_t action_server;
rcl_context_t context;
rcl_node_t node;
rcl_clock_t clock;
}; // class TestActionServer