Modified tests to avoid memory leak

Signed-off-by: Jaison Titus <[email protected]>

Author: jaisontj

rmw/include/rmw/rmw.h

@@ -894,12 +894,12 @@ rmw_count_subscribers(
   size_t * count);
 
 /**
- * Retrieves a list of all publishers (described by the rmw_participants_t struct)
- * publishing to a specific topic along with its respective qos profile.
+ * Retrieves a list of all publishers publishing to a specific topic along with its respective qos profile.
  *
- * None of the parameters provided to this function can be NULL.
+ * The node parameter must not be `NULL` and must point to a valid node.
  *
- * Incorrect or non existent topic names are allowed.
+ * The topic_name parameter must not be `NULL`.
+ * Incorrect or non existent topic names are allowed. They will return an empty array.
  *
  * \param[in] node the handle to the node being used to query the ROS graph.
  * \param[in] topic_name the name of the topic for which the list of publishers will be retrieved.
@@ -920,9 +920,10 @@ rmw_get_qos_for_publishers(
  * Retrieves a list of all subscribers (described by the rmw_participants_t struct)
  * subscribing to a specific topic along with its respective qos profile.
  *
- * None of the parameters provided to this function can be NULL.
+ * The node parameter must not be `NULL` and must point to a valid node.
  *
- * Incorrect or non existent topic names are allowed.
+ * The topic_name parameter must not be `NULL`.
+ * Incorrect or non existent topic names are allowed. They will return an empty array.
  *
  * \param[in] node the handle to the node being used to query the ROS graph.
  * \param[in] topic_name the name of the topic for which the list of subscribers will be retrieved.

rmw/package.xml

@@ -19,7 +19,7 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-
+  <test_depend>osrf_testing_tools_cpp</test_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>

rmw/test/CMakeLists.txt

@@ -1,4 +1,5 @@
 find_package(ament_cmake_gmock REQUIRED)
+find_package(osrf_testing_tools_cpp REQUIRED)
 
 ament_add_gmock(test_serialized_message
   test_serialized_message.cpp
@@ -48,5 +49,6 @@ ament_add_gmock(test_rmw_participant_qos_profile_allocator
   APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:${PROJECT_NAME}>"
 )
 if(TARGET test_rmw_participant_qos_profile_allocator)
-  target_link_libraries(test_rmw_participant_qos_profile_allocator ${PROJECT_NAME})
+  target_link_libraries(test_rmw_participant_qos_profile_allocator ${PROJECT_NAME}
+  osrf_testing_tools_cpp::memory_tools)
 endif()

rmw/test/test_rmw_participant_qos_profile_allocator.cpp

@@ -1,4 +1,4 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
+// Copyright 2019 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -14,25 +14,35 @@
 
 #include "gtest/gtest.h"
 
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rmw/allocators.h"
 #include "rmw/types.h"
 
 TEST(test_rmw_participant_qos_profile_allocator, test_allocate_does_not_return_null) {
   rmw_participant_qos_profile_t * qos_profile = rmw_participant_qos_profile_allocate();
-  ASSERT_TRUE(qos_profile != NULL);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    delete (qos_profile);
+  });
+  EXPECT_NE(qos_profile, nullptr);
 }
 
 TEST(test_rmw_participant_qos_profile_allocator, test_allocate_allocates_different_pointers) {
   rmw_participant_qos_profile_t * qos_profile1 = rmw_participant_qos_profile_allocate();
   rmw_participant_qos_profile_t * qos_profile2 = rmw_participant_qos_profile_allocate();
-  ASSERT_TRUE(qos_profile1 != qos_profile2);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    delete (qos_profile1);
+    delete (qos_profile2);
+  });
+  EXPECT_NE(qos_profile1, qos_profile2);
 }
 
 TEST(test_rmw_participant_qos_profile_allocator, test_free_null) {
-  EXPECT_NO_THROW(rmw_participant_qos_profile_free(NULL));
+  rmw_participant_qos_profile_free(NULL);
+  SUCCEED();
 }
 
 TEST(test_rmw_participant_qos_profile_allocator, test_free_allocated) {
   rmw_participant_qos_profile_t * qos_profile = rmw_participant_qos_profile_allocate();
-  EXPECT_NO_THROW(rmw_participant_qos_profile_free(qos_profile));
+  rmw_participant_qos_profile_free(qos_profile);
+  SUCCEED();
 }