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Complete subscription test coverage.
Signed-off-by: Michel Hidalgo <[email protected]>
1 parent c417f7b commit 519d2bf

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5 files changed

+750
-67
lines changed

5 files changed

+750
-67
lines changed

‎rcl/package.xml‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -33,6 +33,7 @@
3333
<test_depend>launch_testing_ament_cmake</test_depend>
3434
<test_depend>osrf_testing_tools_cpp</test_depend>
3535
<test_depend>test_msgs</test_depend>
36+
<test_depend>mimick_vendor</test_depend>
3637

3738
<group_depend>rcl_logging_packages</group_depend>
3839

‎rcl/src/rcl/subscription.c‎

Lines changed: 21 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -72,7 +72,7 @@ rcl_subscription_init(
7272
rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
7373
rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
7474
if (rcutils_ret != RCUTILS_RET_OK) {
75-
RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
75+
// RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
7676
if (RCUTILS_RET_BAD_ALLOC == rcutils_ret) {
7777
return RCL_RET_BAD_ALLOC;
7878
}
@@ -104,7 +104,7 @@ rcl_subscription_init(
104104
&expanded_topic_name);
105105
rcutils_ret = rcutils_string_map_fini(&substitutions_map);
106106
if (rcutils_ret != RCUTILS_RET_OK) {
107-
RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
107+
// RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
108108
ret = RCL_RET_ERROR;
109109
goto cleanup;
110110
}
@@ -141,7 +141,7 @@ rcl_subscription_init(
141141
int validation_result;
142142
rmw_ret_t rmw_ret = rmw_validate_full_topic_name(remapped_topic_name, &validation_result, NULL);
143143
if (rmw_ret != RMW_RET_OK) {
144-
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
144+
// RCL_SET_ERROR_MSG(rmw_get_error_string().str);
145145
ret = RCL_RET_ERROR;
146146
goto cleanup;
147147
}
@@ -165,15 +165,15 @@ rcl_subscription_init(
165165
&(options->qos),
166166
&(options->rmw_subscription_options));
167167
if (!subscription->impl->rmw_handle) {
168-
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
168+
// RCL_SET_ERROR_MSG(rmw_get_error_string().str);
169169
goto fail;
170170
}
171171
// get actual qos, and store it
172172
rmw_ret = rmw_subscription_get_actual_qos(
173173
subscription->impl->rmw_handle,
174174
&subscription->impl->actual_qos);
175175
if (RMW_RET_OK != rmw_ret) {
176-
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
176+
// RCL_SET_ERROR_MSG(rmw_get_error_string().str);
177177
ret = RCL_RET_ERROR;
178178
goto fail;
179179
}
@@ -194,6 +194,7 @@ rcl_subscription_init(
194194
fail:
195195
if (subscription->impl) {
196196
allocator->deallocate(subscription->impl, allocator->state);
197+
subscription->impl = NULL;
197198
}
198199
ret = fail_ret;
199200
// Fall through to cleanup
@@ -229,6 +230,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
229230
result = RCL_RET_ERROR;
230231
}
231232
allocator.deallocate(subscription->impl, allocator.state);
233+
subscription->impl = NULL;
232234
}
233235
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized");
234236
return result;
@@ -269,11 +271,8 @@ rcl_take(
269271
rmw_ret_t ret = rmw_take_with_info(
270272
subscription->impl->rmw_handle, ros_message, &taken, message_info_local, allocation);
271273
if (ret != RMW_RET_OK) {
272-
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
273-
if (RMW_RET_BAD_ALLOC == ret) {
274-
return RCL_RET_BAD_ALLOC;
275-
}
276-
return RCL_RET_ERROR;
274+
// RCL_SET_ERROR_MSG(rmw_get_error_string().str);
275+
return rcl_convert_rmw_ret_to_rcl_ret(ret);
277276
}
278277
RCUTILS_LOG_DEBUG_NAMED(
279278
ROS_PACKAGE_NAME, "Subscription take succeeded: %s", taken ? "true" : "false");
@@ -292,10 +291,6 @@ rcl_take_sequence(
292291
rmw_subscription_allocation_t * allocation
293292
)
294293
{
295-
// Set the sizes to zero to indicate that there are no valid messages
296-
message_sequence->size = 0u;
297-
message_info_sequence->size = 0u;
298-
299294
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking %zu messages", count);
300295
if (!rcl_subscription_is_valid(subscription)) {
301296
return RCL_RET_SUBSCRIPTION_INVALID; // error message already set
@@ -313,12 +308,16 @@ rcl_take_sequence(
313308
return RCL_RET_INVALID_ARGUMENT;
314309
}
315310

311+
// Set the sizes to zero to indicate that there are no valid messages
312+
message_sequence->size = 0u;
313+
message_info_sequence->size = 0u;
314+
316315
size_t taken = 0u;
317316
rmw_ret_t ret = rmw_take_sequence(
318317
subscription->impl->rmw_handle, count, message_sequence, message_info_sequence, &taken,
319318
allocation);
320319
if (ret != RMW_RET_OK) {
321-
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
320+
// RCL_SET_ERROR_MSG(rmw_get_error_string().str);
322321
return rcl_convert_rmw_ret_to_rcl_ret(ret);
323322
}
324323
RCUTILS_LOG_DEBUG_NAMED(
@@ -351,11 +350,8 @@ rcl_take_serialized_message(
351350
rmw_ret_t ret = rmw_take_serialized_message_with_info(
352351
subscription->impl->rmw_handle, serialized_message, &taken, message_info_local, allocation);
353352
if (ret != RMW_RET_OK) {
354-
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
355-
if (RMW_RET_BAD_ALLOC == ret) {
356-
return RCL_RET_BAD_ALLOC;
357-
}
358-
return RCL_RET_ERROR;
353+
// RCL_SET_ERROR_MSG(rmw_get_error_string().str);
354+
return rcl_convert_rmw_ret_to_rcl_ret(ret);
359355
}
360356
RCUTILS_LOG_DEBUG_NAMED(
361357
ROS_PACKAGE_NAME, "Subscription serialized take succeeded: %s", taken ? "true" : "false");
@@ -376,6 +372,7 @@ rcl_take_loaned_message(
376372
if (!rcl_subscription_is_valid(subscription)) {
377373
return RCL_RET_SUBSCRIPTION_INVALID; // error already set
378374
}
375+
RCL_CHECK_ARGUMENT_FOR_NULL(loaned_message, RCL_RET_INVALID_ARGUMENT);
379376
if (*loaned_message) {
380377
RCL_SET_ERROR_MSG("loaned message is already initialized");
381378
return RCL_RET_INVALID_ARGUMENT;
@@ -389,11 +386,7 @@ rcl_take_loaned_message(
389386
rmw_ret_t ret = rmw_take_loaned_message_with_info(
390387
subscription->impl->rmw_handle, loaned_message, &taken, message_info_local, allocation);
391388
if (ret != RMW_RET_OK) {
392-
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
393-
if (RMW_RET_BAD_ALLOC == ret) {
394-
return RCL_RET_BAD_ALLOC;
395-
}
396-
return RCL_RET_ERROR;
389+
return rcl_convert_rmw_ret_to_rcl_ret(ret);
397390
}
398391
RCUTILS_LOG_DEBUG_NAMED(
399392
ROS_PACKAGE_NAME, "Subscription loaned take succeeded: %s", taken ? "true" : "false");
@@ -413,8 +406,9 @@ rcl_return_loaned_message_from_subscription(
413406
return RCL_RET_SUBSCRIPTION_INVALID; // error already set
414407
}
415408
RCL_CHECK_ARGUMENT_FOR_NULL(loaned_message, RCL_RET_INVALID_ARGUMENT);
416-
return rmw_return_loaned_message_from_subscription(
417-
subscription->impl->rmw_handle, loaned_message);
409+
return rcl_convert_rmw_ret_to_rcl_ret(
410+
rmw_return_loaned_message_from_subscription(
411+
subscription->impl->rmw_handle, loaned_message));
418412
}
419413

420414
const char *

‎rcl/test/CMakeLists.txt‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,7 @@
11
find_package(ament_cmake_gtest REQUIRED)
22
find_package(launch_testing_ament_cmake REQUIRED)
33

4+
find_package(mimick_vendor REQUIRED)
45
find_package(test_msgs REQUIRED)
56

67
find_package(rcpputils REQUIRED)
@@ -223,7 +224,7 @@ function(test_target_function)
223224
SRCS rcl/test_subscription.cpp rcl/wait_for_entity_helpers.cpp
224225
ENV ${rmw_implementation_env_var}
225226
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
226-
LIBRARIES ${PROJECT_NAME}
227+
LIBRARIES ${PROJECT_NAME} mimick
227228
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
228229
)
229230
if(rmw_implementation STREQUAL "rmw_fastrtps_cpp" OR

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