niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Add timer to action server to check expired goals + asan fixes (#343)

Browse source 
* Add timer to action server to check expired goals

* Fix leak in action_server

* Fix leaks and heap overflow errors

* Fix leaks in tests
This commit is contained in:
Shane Loretz 2018-11-30 18:24:17 -08:00 • committed by GitHub
parent 128f28499b
commit fd77323b9d
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
6 changed files with 191 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

12
rcl_action/test/rcl_action/test_action_communication.cpp
View file

@ -145,6 +145,7 @@ protected:
bool is_goal_request_ready;
bool is_cancel_request_ready;
bool is_result_request_ready;
bool is_goal_expired;
bool is_feedback_ready;
bool is_status_ready;
@ -189,7 +190,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
&this->action_server,
&this->is_goal_request_ready,
&this->is_cancel_request_ready,
&this->is_result_request_ready);
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
@ -306,7 +308,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
&this->action_server,
&this->is_goal_request_ready,
&this->is_cancel_request_ready,
&this->is_result_request_ready);
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
@ -437,7 +440,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
&this->action_server,
&this->is_goal_request_ready,
&this->is_cancel_request_ready,
&this->is_result_request_ready);
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
@ -598,6 +602,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(goal_handle));
}
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm)
@ -1117,6 +1122,5 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_stat
ret = rcl_action_goal_status_array_fini(&status_array);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
}

32
rcl_action/test/rcl_action/test_action_server.cpp
View file

@ -15,6 +15,7 @@
#include <chrono>
#include <thread>
#include <vector>
#include "rcl_action/action_server.h"
@ -244,9 +245,12 @@ TEST_F(TestActionServer, test_action_accept_new_goal)
EXPECT_EQ(goal_handle, nullptr);
rcl_reset_error();
std::vector<rcl_action_goal_handle_t> handles;
// Accept with valid arguments
goal_handle = rcl_action_accept_new_goal(&this->action_server, &goal_info_in);
EXPECT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
handles.push_back(*goal_handle);
rcl_action_goal_info_t goal_info_out = rcl_action_get_zero_initialized_goal_info();
rcl_ret_t ret = rcl_action_goal_handle_get_info(goal_handle, &goal_info_out);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
@ -269,6 +273,7 @@ TEST_F(TestActionServer, test_action_accept_new_goal)
init_test_uuid1(goal_info_in.uuid);
goal_handle = rcl_action_accept_new_goal(&this->action_server, &goal_info_in);
EXPECT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
handles.push_back(*goal_handle);
ret = rcl_action_goal_handle_get_info(goal_handle, &goal_info_out);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_TRUE(uuidcmp(goal_info_out.uuid, goal_info_in.uuid));
@ -278,6 +283,10 @@ TEST_F(TestActionServer, test_action_accept_new_goal)
EXPECT_NE(goal_handle_array, nullptr) << rcl_get_error_string().str;
EXPECT_NE(goal_handle_array[0], nullptr) << rcl_get_error_string().str;
EXPECT_NE(goal_handle_array[1], nullptr) << rcl_get_error_string().str;
for (auto & handle : handles) {
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(&handle));
}
}
TEST_F(TestActionServer, test_action_clear_expired_goals)
@ -305,6 +314,8 @@ TEST_F(TestActionServer, test_action_clear_expired_goals)
ret = rcl_action_expire_goals(&this->action_server, nullptr, 0u, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
std::vector<rcl_action_goal_handle_t> handles;
// Test with goals that actually expire
// Set ROS time
ASSERT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(&this->clock));
@ -315,6 +326,7 @@ TEST_F(TestActionServer, test_action_clear_expired_goals)
rcl_action_goal_handle_t * goal_handle =
rcl_action_accept_new_goal(&this->action_server, &goal_info_in);
ASSERT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
handles.push_back(*goal_handle);
// Transition executing to aborted
ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_EXECUTE));
ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_SET_ABORTED));
@ -325,6 +337,10 @@ TEST_F(TestActionServer, test_action_clear_expired_goals)
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(num_expired, 1u);
EXPECT_TRUE(uuidcmp(expired_goals[0].uuid, goal_info_in.uuid));
for (auto & handle : handles) {
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(&handle));
}
}
TEST_F(TestActionServer, test_action_process_cancel_request)
@ -390,12 +406,15 @@ TEST_F(TestActionServer, test_action_server_get_goal_status_array)
ret = rcl_action_goal_status_array_fini(&status_array);
ASSERT_EQ(ret, RCL_RET_OK);
std::vector<rcl_action_goal_handle_t> handles;
// Add a goal before getting the status array
rcl_action_goal_info_t goal_info_in = rcl_action_get_zero_initialized_goal_info();
init_test_uuid0(goal_info_in.uuid);
rcl_action_goal_handle_t * goal_handle;
goal_handle = rcl_action_accept_new_goal(&this->action_server, &goal_info_in);
ASSERT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
handles.push_back(*goal_handle);
ret = rcl_action_get_goal_status_array(&this->action_server, &status_array);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_NE(status_array.msg.status_list.data, nullptr);
@ -412,6 +431,7 @@ TEST_F(TestActionServer, test_action_server_get_goal_status_array)
}
goal_handle = rcl_action_accept_new_goal(&this->action_server, &goal_info_in);
ASSERT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
handles.push_back(*goal_handle);
}
ret = rcl_action_get_goal_status_array(&this->action_server, &status_array);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
@ -425,6 +445,9 @@ TEST_F(TestActionServer, test_action_server_get_goal_status_array)
}
ret = rcl_action_goal_status_array_fini(&status_array);
ASSERT_EQ(ret, RCL_RET_OK);
for (auto & handle : handles) {
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(&handle));
}
}
TEST_F(TestActionServer, test_action_server_get_action_name)
@ -480,6 +503,7 @@ protected:
}
goal_handle = rcl_action_accept_new_goal(&this->action_server, &goal_info_in);
ASSERT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
handles.push_back(*goal_handle);
goal_infos_out[i] = rcl_action_get_zero_initialized_goal_info();
ret = rcl_action_goal_handle_get_info(goal_handle, &goal_infos_out[i]);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
@ -490,11 +514,15 @@ protected:
void TearDown() override
{
for (auto & handle : handles) {
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(&handle));
}
TestActionServer::TearDown();
}
static const int NUM_GOALS = 10;
rcl_action_goal_info_t goal_infos_out[NUM_GOALS];
std::vector<rcl_action_goal_handle_t> handles;
};
TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_all_goals)
@ -516,6 +544,7 @@ TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_all_goal
EXPECT_EQ(goal_info_out->uuid[j], static_cast<uint8_t>(i + j));
}
}
EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
}
TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_single_goal)
@ -531,6 +560,7 @@ TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_single_g
ASSERT_EQ(cancel_response.msg.goals_canceling.size, 1u);
rcl_action_goal_info_t * goal_info = &cancel_response.msg.goals_canceling.data[0];
EXPECT_TRUE(uuidcmp(goal_info->uuid, cancel_request.goal_info.uuid));
EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
}
TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_by_time)
@ -552,6 +582,7 @@ TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_by_time)
EXPECT_EQ(goal_info_out->uuid[j], static_cast<uint8_t>(i + j));
}
}
EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
}
TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_by_time_and_id)
@ -580,4 +611,5 @@ TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_by_time_
}
goal_info_out = &cancel_response.msg.goals_canceling.data[num_goals_canceling - 1];
EXPECT_TRUE(uuidcmp(goal_info_out->uuid, cancel_request.goal_info.uuid));
EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
}

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

@ -154,6 +154,7 @@ TEST(TestGoalHandle, test_goal_handle_update_state_invalid)
ret = rcl_action_update_goal_state(&goal_handle, GOAL_EVENT_NUM_EVENTS);
EXPECT_EQ(ret, RCL_RET_ACTION_GOAL_EVENT_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(&goal_handle));
}
using EventStateActiveCancelableTuple =