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

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* 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
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 191 additions and 10 deletions
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12
rcl_action/test/rcl_action/test_action_communication.cpp
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@ -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);
}