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Add visibility to rcl_timer_get_allocator #610

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Merged
merged 4 commits into from
Apr 14, 2020
Merged

Add visibility to rcl_timer_get_allocator #610

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4a7f418
Add RCL_PUBLIC to be able of using the function externally
Blast545 Apr 9, 2020
2cfaedc
Add fixture to setup timers before testing them
Blast545 Apr 9, 2020
fb5416e
Add test for rcl_timer_get_allocator function
Blast545 Apr 9, 2020
9c5e102
Add minor style changes
Blast545 Apr 13, 2020
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2 changes: 2 additions & 0 deletions rcl/include/rcl/timer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -566,6 +566,8 @@ rcl_timer_reset(rcl_timer_t * timer);
* \param[inout] timer handle to the timer object
* \return pointer to the allocator, or `NULL` if an error occurred
*/
RCL_PUBLIC
RCL_WARN_UNUSED
const rcl_allocator_t *
rcl_timer_get_allocator(const rcl_timer_t * timer);

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48 changes: 48 additions & 0 deletions rcl/test/rcl/test_timer.cpp
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Expand Up @@ -65,6 +65,46 @@ class TestTimerFixture : public ::testing::Test
}
};

static uint8_t times_called = 0;
static void callback_function(rcl_timer_t * timer, int64_t last_call)
{
(void) timer;
(void) last_call;
times_called++;
}
static rcl_timer_callback_t timer_callback_test = &callback_function;

class TestPreInitTimer : public TestTimerFixture
{
public:
rcl_clock_t clock;
rcl_allocator_t allocator;
rcl_timer_t timer;

void SetUp() override
{
TestTimerFixture::SetUp();
rcl_ret_t ret;
allocator = rcl_get_default_allocator();
timer = rcl_get_zero_initialized_timer();
ASSERT_EQ(
RCL_RET_OK,
rcl_clock_init(RCL_ROS_TIME, &clock, &allocator)) << rcl_get_error_string().str;

ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_S_TO_NS(1), timer_callback_test,
rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void TearDown() override
{
EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(&timer)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
TestTimerFixture::TearDown();
}
};

TEST_F(TestTimerFixture, test_two_timers) {
rcl_ret_t ret;

Expand Down Expand Up @@ -512,3 +552,11 @@ TEST_F(TestTimerFixture, test_ros_time_wakes_wait) {
EXPECT_TRUE(timer_was_ready);
EXPECT_LT(finish - start, std::chrono::milliseconds(100));
}

TEST_F(TestPreInitTimer, test_timer_get_allocator) {
const rcl_allocator_t * allocator_returned;
allocator_returned = rcl_timer_get_allocator(&timer);
EXPECT_TRUE(rcutils_allocator_is_valid(allocator_returned));

EXPECT_EQ(NULL, rcl_timer_get_allocator(nullptr));
}