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Fix leaks in test_wait.cpp (#439)
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Signed-off-by: cevans87 <c.d.evans87@gmail.com>
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@dirk-thomas
Cameron Evans authored and dirk-thomas committed May 17, 2019
1 parent 6042af4 commit 0c4c743
Showing 1 changed file with 65 additions and 37 deletions.
102 changes: 65 additions & 37 deletions rcl/test/rcl/test_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,35 +111,42 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

// Add a dummy guard condition to avoid an error
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

int64_t timeout = -1;
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
Expand All @@ -158,21 +165,22 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

// Add a dummy guard condition to avoid an error
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Time spent during wait should be negligible.
int64_t timeout = 0;
Expand All @@ -191,23 +199,24 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_trigger_guard_condition(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

// Time spent during wait should be negligible.
int64_t timeout = 0;
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
Expand All @@ -225,38 +234,45 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

// Add a dummy guard condition to avoid an error
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_timer_t canceled_timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&canceled_timer, &clock, this->context_ptr,
RCL_MS_TO_NS(1), nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_cancel(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_fini(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_timer_cancel(&canceled_timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

int64_t timeout = RCL_MS_TO_NS(10);
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
Expand All @@ -267,9 +283,6 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
// Check time
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, RCL_MS_TO_NS(10) + TOLERANCE);

ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Test rcl_wait_set_t with excess capacity works.
Expand All @@ -278,6 +291,10 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

int64_t timeout = 1;
ret = rcl_wait(&wait_set, timeout);
Expand Down Expand Up @@ -358,11 +375,13 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
ret = rcl_guard_condition_init(
&test_set.guard_condition, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// guard_condition must live longer than this loop. Call fini from function-level exit-scope.
// setup the wait set
test_set.wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(
&test_set.wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// wait_set must live longer than this loop. Call fini from function-level exit-scope.
ret = rcl_wait_set_add_guard_condition(&test_set.wait_set, &test_set.guard_condition, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_set.thread_id = 0;
Expand Down Expand Up @@ -421,19 +440,20 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(
&guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

std::promise<rcl_ret_t> p;

Expand Down Expand Up @@ -469,6 +489,10 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
rcl_ret_t ret = rcl_wait_set_init(
&wait_set, 0, kNumEntities, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

// Initialize to invalid value
size_t guard_condition_index = 42u;
Expand All @@ -479,6 +503,10 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
ret = rcl_guard_condition_init(
&guard_conditions[i], this->context_ptr, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_guard_condition_fini(&guard_conditions[i]);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_guard_condition(
&wait_set, &guard_conditions[i], &guard_condition_index);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down

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