6129a12df5
* Remove publisher:: namespace * Remove subscription:: namespace * Remove client:: namespace * Remove service:: namespace * Remove parameter_client:: namespace * Remove parameter_service:: namespace * Remove rate:: namespace * Remove timer:: namespace * Remove node:: namespace * Remove any_service_callback:: namespace * Remove any_subscription_callback:: namespace * Remove event:: namespace * Remove ContextSharedPtr escalation Users can use the directive themselves if they want * Remove single_threaded_executor:: namespace * Remove multi_threaded_executor:: namespace * Remove context:: namespace * node:: removal from new logger additions * Fix linter issues that has been triggered with uncrustify * Remove utilities:: namespace
76 lines
2.7 KiB
C++
76 lines
2.7 KiB
C++
// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <memory>
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#include "rclcpp/strategies/allocator_memory_strategy.hpp"
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#include "rclcpp/memory_strategy.hpp"
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#include "rclcpp/node.hpp"
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#include "rclcpp/rclcpp.hpp"
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class TestFindWeakNodes : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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};
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TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
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// GIVEN
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// A vector of weak pointers to nodes
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auto memory_strategy = std::make_shared<
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rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
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auto existing_node = rclcpp::Node::make_shared("existing_node");
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auto dead_node = rclcpp::Node::make_shared("dead_node");
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rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
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weak_nodes.push_back(existing_node->get_node_base_interface());
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weak_nodes.push_back(dead_node->get_node_base_interface());
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// AND
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// Delete dead_node, creating a dangling pointer in weak_nodes
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dead_node.reset();
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ASSERT_FALSE(weak_nodes[0].expired());
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ASSERT_TRUE(weak_nodes[1].expired());
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// WHEN
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bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
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// THEN
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// The result of finding dangling node pointers should be true
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ASSERT_TRUE(has_invalid_weak_nodes);
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}
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TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
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// GIVEN
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// A vector of weak pointers to nodes, all valid
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auto memory_strategy = std::make_shared<
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rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
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auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
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auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
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rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
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weak_nodes.push_back(existing_node1->get_node_base_interface());
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weak_nodes.push_back(existing_node2->get_node_base_interface());
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ASSERT_FALSE(weak_nodes[0].expired());
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ASSERT_FALSE(weak_nodes[1].expired());
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// WHEN
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bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
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// THEN
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// The result of finding dangling node pointers should be false
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ASSERT_FALSE(has_invalid_weak_nodes);
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}
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