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Fix wait allocation cleanup #770

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merged 3 commits into from
Aug 31, 2020
Merged

Fix wait allocation cleanup #770

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63a1d19
Add fix wait.c init/fini allocation on error
Blast545 Aug 27, 2020
5f03f7d
Add test for the fix
Blast545 Aug 27, 2020
66fd770
Remove unit tests
Blast545 Aug 27, 2020
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17 changes: 9 additions & 8 deletions rcl/src/rcl/wait.c
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Original file line number Diff line number Diff line change
Expand Up @@ -86,13 +86,13 @@ rcl_wait_set_is_valid(const rcl_wait_set_t * wait_set)
}

static void
__wait_set_clean_up(rcl_wait_set_t * wait_set, rcl_allocator_t allocator)
__wait_set_clean_up(rcl_wait_set_t * wait_set)
{
rcl_ret_t ret = rcl_wait_set_resize(wait_set, 0, 0, 0, 0, 0, 0);
(void)ret; // NO LINT
assert(RCL_RET_OK == ret); // Defensive, shouldn't fail with size 0.
if (wait_set->impl) {
allocator.deallocate(wait_set->impl, allocator.state);
wait_set->impl->allocator.deallocate(wait_set->impl, wait_set->impl->allocator.state);
wait_set->impl = NULL;
}
}
Expand Down Expand Up @@ -146,6 +146,10 @@ rcl_wait_set_init(
wait_set->impl->rmw_services.service_count = 0;
wait_set->impl->rmw_events.events = NULL;
wait_set->impl->rmw_events.event_count = 0;
// Set context.
wait_set->impl->context = context;
// Set allocator.
wait_set->impl->allocator = allocator;

size_t num_conditions =
(2 * number_of_subscriptions) +
Expand All @@ -159,10 +163,6 @@ rcl_wait_set_init(
goto fail;
}

// Set context.
wait_set->impl->context = context;
// Set allocator.
wait_set->impl->allocator = allocator;
// Initialize subscription space.
rcl_ret_t ret = rcl_wait_set_resize(
wait_set, number_of_subscriptions, number_of_guard_conditions, number_of_timers,
Expand All @@ -179,7 +179,7 @@ rcl_wait_set_init(
fail_ret = RCL_RET_WAIT_SET_INVALID;
}
}
__wait_set_clean_up(wait_set, allocator);
__wait_set_clean_up(wait_set);
return fail_ret;
}

Expand All @@ -195,7 +195,7 @@ rcl_wait_set_fini(rcl_wait_set_t * wait_set)
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
result = RCL_RET_WAIT_SET_INVALID;
}
__wait_set_clean_up(wait_set, wait_set->impl->allocator);
__wait_set_clean_up(wait_set);
}
return result;
}
Expand Down Expand Up @@ -300,6 +300,7 @@ rcl_wait_set_get_allocator(const rcl_wait_set_t * wait_set, rcl_allocator_t * al
wait_set->impl->RMWStorage, sizeof(void *) * Type ## s_size, allocator.state); \
if (!wait_set->impl->RMWStorage) { \
allocator.deallocate((void *)wait_set->Type ## s, allocator.state); \
wait_set->Type ## s = NULL; \
wait_set->size_of_ ## Type ## s = 0; \
RCL_SET_ERROR_MSG("allocating memory failed"); \
return RCL_RET_BAD_ALLOC; \
Expand Down
29 changes: 29 additions & 0 deletions rcl/test/rcl/test_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -684,3 +684,32 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_get_allocator
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Test proper error handling with a fault injection test
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_test_maybe_init_fail) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = RCL_RET_OK;
rcl_allocator_t alloc = rcl_get_default_allocator();

RCUTILS_FAULT_INJECTION_TEST(
{
ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 1, 1, 0, context_ptr, alloc);
if (RCL_RET_OK == ret) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
} else {
EXPECT_TRUE(RCL_RET_WAIT_SET_INVALID == ret || RCL_RET_BAD_ALLOC == ret);
rcl_reset_error();
}
});

RCUTILS_FAULT_INJECTION_TEST(
{
ret = rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 1, context_ptr, alloc);
if (RCL_RET_OK == ret) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
} else {
EXPECT_TRUE(RCL_RET_WAIT_SET_INVALID == ret || RCL_RET_BAD_ALLOC == ret);
rcl_reset_error();
}
});
}