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Fix memory leak in test_subscription_nominal (#469) #562

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merged 7 commits into from
Feb 24, 2020
Merged

Fix memory leak in test_subscription_nominal (#469) #562

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32d03cd
Fix memory leak in test_subscription_nominal (#469)
y-okumura-isp Jan 29, 2020
e2e3878
Update rcl/test/rcl/test_subscription.cpp
y-okumura-isp Feb 6, 2020
23e3f0d
Narrow scope of "subscription" to prevent future leak (#469)
y-okumura-isp Feb 6, 2020
b5838ee
Delete unnecessary publisher (#469)
y-okumura-isp Feb 7, 2020
3173e87
Rename test function name and commants (#469)
y-okumura-isp Feb 7, 2020
65f40ce
Fix lint error in test_subscription.cpp (#469)
y-okumura-isp Feb 10, 2020
8fe3014
Fix uncrustify failure
jacobperron Feb 10, 2020
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56 changes: 34 additions & 22 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,33 +116,23 @@ wait_for_subscription_to_be_ready(
success = false;
}

/* Basic nominal test of a subscription.
/* Test subscription init, fini and is_valid functions
*/
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_init_fini_and_is_valid) {
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rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();

const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "chatter";
const char * expected_topic = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();

rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
EXPECT_EQ(strcmp(rcl_subscription_get_topic_name(&subscription), expected_topic), 0);
ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Test is_valid for subscription with nullptr
EXPECT_FALSE(rcl_subscription_is_valid(nullptr));
Expand All @@ -152,12 +142,34 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
subscription = rcl_get_zero_initialized_subscription();
EXPECT_FALSE(rcl_subscription_is_valid(&subscription));
rcl_reset_error();
}

// Check that valid subscriber is valid
subscription = rcl_get_zero_initialized_subscription();
/* Basic nominal test of a subscription
*/
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
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ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(rcl_subscription_is_valid(&subscription));
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_reset_error();

// TODO(wjwwood): add logic to wait for the connection to be established
Expand All @@ -180,7 +192,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
test_msgs__msg__BasicTypes__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__BasicTypes__fini(&msg);
test_msgs__msg__BasicTypes__fini(&msg);
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});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down