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Merged
merged 1 commit into from
May 20, 2019
Merged

Fix leaks in rcl_action unit tests #442

merged 1 commit into from
May 20, 2019

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@prajakta-gokhale
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@prajakta-gokhale prajakta-gokhale commented May 18, 2019

Fix memory leaks detected by AddressSanitizer from rcl_action unit tests.

Before the fix:

Running main() from /home/ANT.AMAZON.COM/prajaktg/ros2_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
[==========] Running 4 tests from 2 test cases.
[----------] Global test environment set-up.
[----------] 1 test from TestActionClientBaseFixture
[ RUN      ] TestActionClientBaseFixture.test_action_client_init_fini
[       OK ] TestActionClientBaseFixture.test_action_client_init_fini (17 ms)
[----------] 1 test from TestActionClientBaseFixture (17 ms total)

[----------] 3 tests from TestActionClientFixture
[ RUN      ] TestActionClientFixture.test_action_client_is_valid
[       OK ] TestActionClientFixture.test_action_client_is_valid (13 ms)
[ RUN      ] TestActionClientFixture.test_action_client_get_action_name
[       OK ] TestActionClientFixture.test_action_client_get_action_name (10 ms)
[ RUN      ] TestActionClientFixture.test_action_client_get_options
[       OK ] TestActionClientFixture.test_action_client_get_options (10 ms)
[----------] 3 tests from TestActionClientFixture (33 ms total)

[----------] Global test environment tear-down
[==========] 4 tests from 2 test cases ran. (50 ms total)
[  PASSED  ] 4 tests.

=================================================================
==12786==ERROR: LeakSanitizer: detected memory leaks

Direct leak of 312 byte(s) in 3 object(s) allocated from:
    ...snip...

Indirect leak of 312 byte(s) in 3 object(s) allocated from:
    ...snip...

SUMMARY: AddressSanitizer: 1184 byte(s) leaked in 12 allocation(s).

After the fix:

Running main() from /home/ANT.AMAZON.COM/prajaktg/ros2_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
[==========] Running 4 tests from 2 test cases.
[----------] Global test environment set-up.
[----------] 1 test from TestActionClientBaseFixture
[ RUN      ] TestActionClientBaseFixture.test_action_client_init_fini
[       OK ] TestActionClientBaseFixture.test_action_client_init_fini (18 ms)
[----------] 1 test from TestActionClientBaseFixture (18 ms total)

[----------] 3 tests from TestActionClientFixture
[ RUN      ] TestActionClientFixture.test_action_client_is_valid
[       OK ] TestActionClientFixture.test_action_client_is_valid (11 ms)
[ RUN      ] TestActionClientFixture.test_action_client_get_action_name
[       OK ] TestActionClientFixture.test_action_client_get_action_name (12 ms)
[ RUN      ] TestActionClientFixture.test_action_client_get_options
[       OK ] TestActionClientFixture.test_action_client_get_options (10 ms)
[----------] 3 tests from TestActionClientFixture (34 ms total)

[----------] Global test environment tear-down
[==========] 4 tests from 2 test cases ran. (52 ms total)
[  PASSED  ] 4 tests.

All tests pass after the fixes:

Running tests...
Test project /home/ANT.AMAZON.COM/prajaktg/ros2_ws/build-asan/rcl_action
      Start  1: test_action_client
 1/15 Test  #1: test_action_client ............................   Passed    0.18 sec
      Start  2: test_action_communication__rmw_fastrtps_cpp
 2/15 Test  #2: test_action_communication__rmw_fastrtps_cpp ...   Passed    0.41 sec
      Start  3: test_action_interaction__rmw_fastrtps_cpp
 3/15 Test  #3: test_action_interaction__rmw_fastrtps_cpp .....   Passed    0.18 sec
      Start  4: test_graph__rmw_fastrtps_cpp
 4/15 Test  #4: test_graph__rmw_fastrtps_cpp ..................   Passed    3.31 sec
      Start  5: test_action_server
 5/15 Test  #5: test_action_server ............................   Passed   10.33 sec
      Start  6: test_goal_handle
 6/15 Test  #6: test_goal_handle ..............................   Passed    0.13 sec
      Start  7: test_goal_state_machine
 7/15 Test  #7: test_goal_state_machine .......................   Passed    0.13 sec
      Start  8: test_types
 8/15 Test  #8: test_types ....................................   Passed    0.13 sec
      Start  9: test_names
 9/15 Test  #9: test_names ....................................   Passed    0.12 sec
      Start 10: copyright
10/15 Test #10: copyright .....................................   Passed    0.30 sec
      Start 11: cppcheck
11/15 Test #11: cppcheck ......................................   Passed    0.66 sec
      Start 12: cpplint
12/15 Test #12: cpplint .......................................   Passed    1.76 sec
      Start 13: lint_cmake
13/15 Test #13: lint_cmake ....................................   Passed    0.29 sec
      Start 14: uncrustify
14/15 Test #14: uncrustify ....................................   Passed    1.01 sec
      Start 15: xmllint
15/15 Test #15: xmllint .......................................   Passed    0.40 sec

100% tests passed, 0 tests failed out of 15

Signed-off-by: Prajakta Gokhale [email protected]

thomas-moulard
thomas-moulard approved these changes May 18, 2019
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LGTM

@prajakta-gokhale
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prajakta-gokhale commented May 18, 2019 •
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@thomas-moulard - please run the following CI job:

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thomas-moulard commented May 18, 2019

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

jacobperron
jacobperron reviewed May 18, 2019
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rcl/src/rcl/init.c Outdated
}

rcl_ret_t rcl_ret = rcl_logging_fini();
rcl_ret_t rcl_ret = rcl_context_fini(context);
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I'm not sure about this change. I believe it is not assumed that rcl_shutdown will take care of this memory cleanup. Other places in our code are handling the context finalization alongside rcl_shutdown, e.g.

rcl/rcl/test/rcl/test_node.cpp

Lines 133 to 134 in 0c4c743

ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));

It also seems contrary to the documentation of rcl_context_t: http://docs.ros2.org/latest/api/rcl/structrcl__context__t.html

There is a valid state between shutdown and finalization.

jacobperron
jacobperron reviewed May 18, 2019
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@prajakta-gokhale prajakta-gokhale force-pushed the fix-rcl-action-leaks branch 2 times, most recently from 690fa75 to 6a80a9a Compare May 19, 2019 22:37
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prajakta-gokhale commented May 20, 2019

Addressed @jacobperron feedback.

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dirk-thomas commented May 20, 2019

@thomas-moulard please rerun CI with the latest state.

@dirk-thomas dirk-thomas requested a review from jacobperron May 20, 2019 20:05
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thomas-moulard commented May 20, 2019

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

jacobperron
jacobperron reviewed May 20, 2019
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Fix leaks in rcl_action unit tests
27bc14a 
Fix memory leaks detected by AddressSanitizer from rcl_action unit
tests.

Signed-off-by: Prajakta Gokhale <[email protected]>
@dirk-thomas dirk-thomas requested a review from jacobperron May 20, 2019 20:39
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jacobperron commented May 20, 2019 •
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  • Linux Build Status
  • Linux-aarch64Build Status
  • macOS Build Status
  • Windows Build Status

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jacobperron commented May 20, 2019

Linux failures are unrelated. Looking into it.

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jacobperron commented May 20, 2019

Re-triggered after fixing unrelated regression.

@jacobperron jacobperron merged commit 3806aa2 into ros2:master May 20, 2019
@prajakta-gokhale prajakta-gokhale deleted the fix-rcl-action-leaks branch May 20, 2019 22:07
@jacobperron jacobperron mentioned this pull request Jul 10, 2019
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