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Increase rclcpp_action test coverage (#1153)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-06-08 11:03:34 -03:00 • committed by Alejandro Hernández Cordero
parent 77aae4019e
commit 43df9eff37
4 changed files with 277 additions and 65 deletions
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25
rclcpp_action/include/rclcpp_action/create_client.hpp
View file

@ -59,20 +59,19 @@ create_client(
return;
}
auto shared_node = weak_node.lock();
if (!shared_node) {
return;
}
// API expects a shared pointer, give it one with a deleter that does nothing.
std::shared_ptr<Client<ActionT>> fake_shared_ptr(ptr, [](Client<ActionT> *) {});
if (shared_node) {
// API expects a shared pointer, give it one with a deleter that does nothing.
std::shared_ptr<Client<ActionT>> fake_shared_ptr(ptr, [](Client<ActionT> *) {});
if (group_is_null) {
// Was added to default group
shared_node->remove_waitable(fake_shared_ptr, nullptr);
} else {
// Was added to a specfic group
auto shared_group = weak_group.lock();
if (shared_group) {
shared_node->remove_waitable(fake_shared_ptr, shared_group);
if (group_is_null) {
// Was added to default group
shared_node->remove_waitable(fake_shared_ptr, nullptr);
} else {
// Was added to a specific group
auto shared_group = weak_group.lock();
if (shared_group) {
shared_node->remove_waitable(fake_shared_ptr, shared_group);
}
}
}
delete ptr;

25
rclcpp_action/include/rclcpp_action/create_server.hpp
View file

@ -78,20 +78,19 @@ create_server(
return;
}
auto shared_node = weak_node.lock();
if (!shared_node) {
return;
}
// API expects a shared pointer, give it one with a deleter that does nothing.
std::shared_ptr<Server<ActionT>> fake_shared_ptr(ptr, [](Server<ActionT> *) {});
if (shared_node) {
// API expects a shared pointer, give it one with a deleter that does nothing.
std::shared_ptr<Server<ActionT>> fake_shared_ptr(ptr, [](Server<ActionT> *) {});
if (group_is_null) {
// Was added to default group
shared_node->remove_waitable(fake_shared_ptr, nullptr);
} else {
// Was added to a specfic group
auto shared_group = weak_group.lock();
if (shared_group) {
shared_node->remove_waitable(fake_shared_ptr, shared_group);
if (group_is_null) {
// Was added to default group
shared_node->remove_waitable(fake_shared_ptr, nullptr);
} else {
// Was added to a specific group
auto shared_group = weak_group.lock();
if (shared_group) {
shared_node->remove_waitable(fake_shared_ptr, shared_group);
}
}
}
delete ptr;