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Fix leaks in rcl_action unit tests #442

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merged 1 commit into from
May 20, 2019
Merged

Fix leaks in rcl_action unit tests #442

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1 change: 1 addition & 0 deletions rcl_action/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,7 @@ if(BUILD_TESTING)
${PROJECT_NAME}
)
ament_target_dependencies(test_action_server
"osrf_testing_tools_cpp"
"rcl"
"test_msgs"
)
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2 changes: 2 additions & 0 deletions rcl_action/test/rcl_action/test_action_client.cpp
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Expand Up @@ -52,6 +52,8 @@ class TestActionClientBaseFixture : public ::testing::Test
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_shutdown(&this->context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_context_fini(&this->context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

rcl_context_t context;
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7 changes: 7 additions & 0 deletions rcl_action/test/rcl_action/test_action_communication.cpp
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Expand Up @@ -13,6 +13,8 @@
// limitations under the License.
#include <gtest/gtest.h>

#include "osrf_testing_tools_cpp/scope_exit.hpp"

#include "rcl_action/action_client.h"
#include "rcl_action/action_server.h"
#include "rcl_action/wait.h"
Expand Down Expand Up @@ -41,6 +43,9 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, 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;
});
context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -119,6 +124,8 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_context_fini(&this->context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void init_test_uuid0(uint8_t * uuid)
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7 changes: 7 additions & 0 deletions rcl_action/test/rcl_action/test_action_interaction.cpp
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Expand Up @@ -13,6 +13,8 @@
// limitations under the License.
#include <gtest/gtest.h>

#include "osrf_testing_tools_cpp/scope_exit.hpp"

#include "rcl_action/action_client.h"
#include "rcl_action/action_server.h"
#include "rcl_action/wait.h"
Expand Down Expand Up @@ -53,6 +55,9 @@ class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, 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;
});
context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -141,6 +146,8 @@ class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_context_fini(&this->context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void init_test_uuid0(uint8_t * uuid)
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16 changes: 16 additions & 0 deletions rcl_action/test/rcl_action/test_action_server.cpp
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Expand Up @@ -19,6 +19,8 @@

#include "action_msgs/srv/cancel_goal.h"

#include "osrf_testing_tools_cpp/scope_exit.hpp"

#include "rcl_action/action_server.h"

#include "rcl/error_handling.h"
Expand Down Expand Up @@ -137,12 +139,21 @@ TEST(TestActionServerInitFini, test_action_server_init_fini)
ret = rcl_clock_fini(&clock);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

// Finalize init_options
ret = rcl_init_options_fini(&init_options);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Finalize node
ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Shutdown node
ret = rcl_shutdown(&context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Finalize context
ret = rcl_context_fini(&context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

class TestActionServer : public ::testing::Test
Expand All @@ -155,6 +166,9 @@ class TestActionServer : public ::testing::Test
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, 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;
});
context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -185,6 +199,8 @@ class TestActionServer : public ::testing::Test
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown(&context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_context_fini(&this->context);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void init_test_uuid0(uint8_t * uuid)
Expand Down