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Fix leaks in test_wait.cpp
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Signed-off-by: cevans87 <c.d.evans87@gmail.com>
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cevans87 committed May 17, 2019
1 parent 4e0b33f commit 02bd9c5
Showing 1 changed file with 95 additions and 63 deletions.
158 changes: 95 additions & 63 deletions rcl/test/rcl/test_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,8 @@ class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
ret = rcl_init_options_fini(&init_options);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
*this->context_ptr = rcl_get_zero_initialized_context();
Expand All @@ -66,11 +67,15 @@ class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
};

TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
rcl_ret_t ret;
// Initialize a wait set with a subscription and then resize it to zero.
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
ret = rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 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;
});

ret = rcl_wait_set_resize(&wait_set, 0u, 0u, 0u, 0u, 0u, 0u);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand All @@ -80,17 +85,18 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
EXPECT_EQ(wait_set.size_of_clients, 0ull);
EXPECT_EQ(wait_set.size_of_services, 0ull);
EXPECT_EQ(wait_set.size_of_timers, 0ull);

ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Test rcl_wait with a positive finite timeout value (1ms)
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
rcl_ret_t ret;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
ret = rcl_wait_set_init(&wait_set, 0, 0, 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;
});

int64_t timeout = RCL_MS_TO_NS(10); // nanoseconds
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
Expand All @@ -100,46 +106,50 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
// Check time
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, timeout + TOLERANCE);

ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Check that a timer overrides a negative timeout value (blocking forever)
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
rcl_ret_t ret;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
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);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_clock_fini(&clock);
EXPECT_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 @@ -154,25 +164,26 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {

// Test rcl_wait with a timeout value of 0 (non-blocking)
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
rcl_ret_t ret;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
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 @@ -187,27 +198,28 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {

// Test rcl_wait with a timeout value of 0 (non-blocking) and an already triggered guard condition
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered_guard_condition) {
rcl_ret_t ret;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
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 @@ -221,42 +233,49 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered

// Check that a canceled timer doesn't wake up rcl_wait
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_ret_t ret;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
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);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
ret = rcl_clock_fini(&clock);
EXPECT_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 @@ -267,17 +286,19 @@ 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.
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
rcl_ret_t ret;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, 0, context_ptr, rcl_get_default_allocator());
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 @@ -350,27 +371,28 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
// *INDENT-ON*
// Setup each test set.
for (auto & test_set : test_sets) {
rcl_ret_t ret;
// init the wake count
test_set.wake_count.store(0);
// setup the guard condition
test_set.guard_condition = rcl_get_zero_initialized_guard_condition();
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;
}
// Setup safe tear-down.
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
for (auto & test_set : test_sets) {
rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
ret = rcl_guard_condition_fini(&test_set.guard_condition);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&test_set.wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -417,23 +439,24 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
// Check the interaction of a guard condition and a negative timeout by
// triggering a guard condition in a separate thread
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
rcl_ret_t ret;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
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 @@ -464,11 +487,16 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {

// Check that index arguments are properly set when adding entities
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
rcl_ret_t ret;
const size_t kNumEntities = 3u;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(
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 +507,10 @@ 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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