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test_time no ASAN detections
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@sloretz
sloretz committed Aug 22, 2018
1 parent c4aa30d commit edaa8f2
Showing 1 changed file with 83 additions and 22 deletions.
105 changes: 83 additions & 22 deletions rcl/test/rcl/test_time.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,10 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
rcl_clock_t ros_clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t retval = rcl_ros_clock_init(&ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(RCL_RET_OK, retval) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&ros_clock)) << rcl_get_error_string_safe();
});

rcl_ret_t ret;
// Check for invalid argument error condition (allowed to alloc).
Expand Down Expand Up @@ -169,11 +172,17 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_clock_a
// Check for normal operation (not allowed to alloc).
rcl_clock_t source;
ret = rcl_ros_clock_init(&source, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&source)) << rcl_get_error_string_safe();
});

rcl_clock_t ros_clock;
rcl_ret_t retval = rcl_ros_clock_init(&ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&ros_clock)) << rcl_get_error_string_safe();
});
}

TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_ros_clock_initially_zero) {
Expand All @@ -197,26 +206,45 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), clock_validation) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret;
ret = rcl_ros_clock_init(&uninitialized, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&uninitialized)) << rcl_get_error_string_safe();
});
}

TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_clock_instanciation) {
rcl_clock_t ros_clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t retval = rcl_ros_clock_init(&ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(&ros_clock)) << rcl_get_error_string_safe();
});
ASSERT_TRUE(rcl_clock_valid(&ros_clock));

rcl_clock_t * steady_clock = reinterpret_cast<rcl_clock_t *>(
allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(steady_clock, allocator.state);
});

retval = rcl_steady_clock_init(steady_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_steady_clock_fini(steady_clock)) << rcl_get_error_string_safe();
});
ASSERT_TRUE(rcl_clock_valid(steady_clock));

rcl_clock_t * system_clock = reinterpret_cast<rcl_clock_t *>(
allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(system_clock, allocator.state);
});
retval = rcl_system_clock_init(system_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_system_clock_fini(system_clock)) << rcl_get_error_string_safe();
});
ASSERT_TRUE(rcl_clock_valid(system_clock));
}

Expand Down Expand Up @@ -263,8 +291,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * ros_clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(ros_clock)) << rcl_get_error_string_safe();
});
EXPECT_TRUE(ros_clock != nullptr);
EXPECT_TRUE(ros_clock->data != nullptr);
EXPECT_EQ(ros_clock->type, RCL_ROS_TIME);
Expand Down Expand Up @@ -292,8 +326,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference_signed) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * ros_clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_ros_clock_fini(ros_clock)) << rcl_get_error_string_safe();
});

rcl_time_point_t a, b;
a.nanoseconds = RCL_S_TO_NS(0LL) + 0LL;
Expand Down Expand Up @@ -367,8 +407,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_clock_change_callbacks) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * ros_clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
});
rcl_time_point_value_t query_now;
rcl_ret_t ret;

Expand Down Expand Up @@ -418,19 +464,24 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_clock_change_callbacks) {
EXPECT_FALSE(pre_callback_called);
EXPECT_FALSE(post_callback_called);
reset_callback_triggers();

EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
}

TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_forward_jump_callbacks) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * ros_clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
});

rcl_ret_t ret;
rcl_time_point_value_t set_point1 = 1000000000;
rcl_time_point_value_t set_point2 = 2000000000;
rcl_time_point_value_t set_point1 = 1000L * 1000L * 1000L;
rcl_time_point_value_t set_point2 = 2L * 1000L * 1000L * 1000L;

rcl_time_jump_t time_jump;
rcl_jump_threshold_t threshold;
Expand Down Expand Up @@ -474,16 +525,20 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_forward_jump_callbacks) {
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_FALSE(pre_callback_called);
EXPECT_FALSE(post_callback_called);

EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
}

TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_backward_jump_callbacks) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * ros_clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(ros_clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
});
rcl_ret_t ret;
rcl_time_point_value_t set_point1 = 1000000000;
rcl_time_point_value_t set_point2 = 2000000000;
Expand Down Expand Up @@ -530,16 +585,20 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_backward_jump_callbacks)
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_FALSE(pre_callback_called);
EXPECT_FALSE(post_callback_called);

EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(ros_clock));
}

TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_add_jump_callback) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(clock, &allocator);
ASSERT_EQ(RCL_RET_OK, retval) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(clock));
});

rcl_jump_threshold_t threshold;
threshold.on_clock_change = false;
Expand All @@ -562,16 +621,20 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_add_jump_callback) {
rcl_reset_error();

EXPECT_EQ(2u, clock->num_jump_callbacks);

EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(clock));
}

TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_remove_jump_callback) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
allocator.deallocate(clock, allocator.state);
});
rcl_ret_t retval = rcl_ros_clock_init(clock, &allocator);
ASSERT_EQ(RCL_RET_OK, retval) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(clock));
});

rcl_jump_threshold_t threshold;
threshold.on_clock_change = false;
Expand Down Expand Up @@ -606,6 +669,4 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_remove_jump_callback) {
EXPECT_EQ(1u, clock->num_jump_callbacks);
EXPECT_EQ(RCL_RET_OK, rcl_clock_remove_jump_callback(clock, cb, user_data2));
EXPECT_EQ(0u, clock->num_jump_callbacks);

EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(clock));
}

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