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Topic fix rcl lifecycle test issue #715

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merged 3 commits into from
Jul 22, 2020
Merged

Topic fix rcl lifecycle test issue #715

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e87c6a0
Fix missing call fini() for lifecycle_transition and node in test_rcl…
Barry-Xu-2018 Jul 15, 2020
7b1b358
Fix error overwritten while allocator is Nullptr.
Barry-Xu-2018 Jul 21, 2020
e861e2f
Optimize used variables
Barry-Xu-2018 Jul 22, 2020
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32 changes: 26 additions & 6 deletions rcl_lifecycle/src/default_state_machine.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@

#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcutils/strdup.h"

#include "rcl_lifecycle/transition_map.h"

Expand Down Expand Up @@ -658,7 +659,11 @@ rcl_lifecycle_init_default_state_machine(
{
rcl_ret_t ret = RCL_RET_ERROR;
// Used for concatenating error messages in the fail: block.
const char * fail_error_message = "";
// The cause or error which leads to jump to fail:
char * fail_error_message = NULL;
// The error happens in fail:
char * fini_error_message = NULL;
rcl_allocator_t default_allocator;
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Why not initializing it directly? That would say it later on.

Suggested change
rcl_allocator_t default_allocator;
rcl_allocator_t default_allocator = rcl_get_default_allocator();

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default_allocator is only used in failure case.
I think it happens seldom.
So need not call rcl_get_default_allocator() each time.
What do you think ?


// ***************************
// register all primary states
Expand Down Expand Up @@ -695,25 +700,40 @@ rcl_lifecycle_init_default_state_machine(
fail:
// If rcl_lifecycle_transition_map_fini() fails, it will clobber the error string here.
// Concatenate the error strings if that happens
default_allocator = rcl_get_default_allocator();

if (rcl_error_is_set()) {
fail_error_message = rcl_get_error_string().str;
fail_error_message = rcutils_strdup(rcl_get_error_string().str, default_allocator);
rcl_reset_error();
}

if (rcl_lifecycle_transition_map_fini(&state_machine->transition_map, allocator) != RCL_RET_OK) {
const char * fini_error = "";
if (rcl_error_is_set()) {
fini_error = rcl_get_error_string().str;
fini_error_message = rcutils_strdup(rcl_get_error_string().str, default_allocator);
rcl_reset_error();
}
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Freeing transition map failed while handling a previous error. Leaking memory!"
"\nOriginal error:\n\t%s\nError encountered in rcl_lifecycle_transition_map_fini():\n\t%s\n",
fail_error_message, fini_error);
fail_error_message != NULL ?
fail_error_message : "Failed to duplicate error while init state machine !",
fini_error_message != NULL ?
fini_error_message : "Failed to duplicate error while fini transition map !");
}

if (!rcl_error_is_set()) {
RCL_SET_ERROR_MSG("Unspecified error in default_state_machine _register_transitions()");
RCL_SET_ERROR_MSG(
(fail_error_message != NULL) ?
fail_error_message : "Unspecified error in rcl_lifecycle_init_default_state_machine() !");
}

if (fail_error_message != NULL) {
default_allocator.deallocate(fail_error_message, default_allocator.state);
}
if (fini_error_message != NULL) {
default_allocator.deallocate(fini_error_message, default_allocator.state);
}

return RCL_RET_ERROR;
}

Expand Down
36 changes: 24 additions & 12 deletions rcl_lifecycle/test/test_rcl_lifecycle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,14 +133,23 @@ TEST(TestRclLifecycle, lifecycle_transition) {

ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], nullptr, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcutils_reset_error();
ret = rcl_lifecycle_transition_fini(&transition, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcutils_reset_error();

ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], start, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcutils_reset_error();
ret = rcl_lifecycle_transition_fini(&transition, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcutils_reset_error();

start = reinterpret_cast<rcl_lifecycle_state_t *>(
allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state));
*start = rcl_lifecycle_get_zero_initialized_state();
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rcl_allocator_t bad_allocator = rcl_get_default_allocator();
bad_allocator.allocate = bad_malloc;
bad_allocator.reallocate = bad_realloc;
Expand Down Expand Up @@ -190,15 +199,16 @@ TEST(TestRclLifecycle, state_machine) {
ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});

ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
const rosidl_service_type_support_t * cs =
Expand Down Expand Up @@ -326,6 +336,7 @@ TEST(TestRclLifecycle, state_machine) {
// Node is null
ret = rcl_lifecycle_state_machine_fini(&state_machine, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR);
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I would expect to see << rcl_get_error_string().str here as well.

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@Barry-Xu-2018 Barry-Xu-2018 Jul 16, 2020 •
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EXPECT_EQ(ret, RCL_RET_ERROR) << rcl_get_error_string().str;

It means rcl_get_error_string().str is output if ret != RCL_RET_ERROR.
That is, ret is RCL_RET_OK. There is no error message.
So I think we need not to add <<rcl_get_error_string().str.
What do you think ?

rcutils_reset_error();
std::cout << "state_machine: " << __LINE__ << std::endl;
}

Expand All @@ -349,15 +360,16 @@ TEST(TestRclLifecycle, state_transitions) {
ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});

ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
const rosidl_service_type_support_t * cs =
Expand Down