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Save allocator for RCL_CLOCK_UNINITIALIZED clock. #623

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merged 5 commits into from
Apr 24, 2020
Merged

Save allocator for RCL_CLOCK_UNINITIALIZED clock. #623

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50ee2ee
Save allocator when setting uninitialized clock
Blast545 Apr 20, 2020
e1597c0
Add tests for clock types init/fini
Blast545 Apr 20, 2020
69ec749
Remove extra calls to set clock allocator
Blast545 Apr 21, 2020
ea90b90
Remove tests not related to this PR
Blast545 Apr 21, 2020
ce8d867
Replace test to make it clearer what is tested in the PR
Blast545 Apr 21, 2020
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11 changes: 6 additions & 5 deletions rcl/src/rcl/time.c
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Original file line number Diff line number Diff line change
Expand Up @@ -48,13 +48,14 @@ rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)

// Internal method for zeroing values on init, assumes clock is valid
static void
rcl_init_generic_clock(rcl_clock_t * clock)
rcl_init_generic_clock(rcl_clock_t * clock, rcl_allocator_t * allocator)
{
clock->type = RCL_CLOCK_UNINITIALIZED;
clock->jump_callbacks = NULL;
clock->num_jump_callbacks = 0u;
clock->get_now = NULL;
clock->data = NULL;
clock->allocator = *allocator;
}

// The function used to get the current ros time.
Expand Down Expand Up @@ -91,7 +92,7 @@ rcl_clock_init(
switch (clock_type) {
case RCL_CLOCK_UNINITIALIZED:
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock);
rcl_init_generic_clock(clock, allocator);
return RCL_RET_OK;
case RCL_ROS_TIME:
return rcl_ros_clock_init(clock, allocator);
Expand Down Expand Up @@ -144,7 +145,7 @@ rcl_ros_clock_init(
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock);
rcl_init_generic_clock(clock, allocator);
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clock->data = allocator->allocate(sizeof(rcl_ros_clock_storage_t), allocator->state);
if (NULL == clock->data) {
RCL_SET_ERROR_MSG("allocating memory failed");
Expand Down Expand Up @@ -186,7 +187,7 @@ rcl_steady_clock_init(
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock);
rcl_init_generic_clock(clock, allocator);
clock->get_now = rcl_get_steady_time;
clock->type = RCL_STEADY_TIME;
clock->allocator = *allocator;
Expand All @@ -213,7 +214,7 @@ rcl_system_clock_init(
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
rcl_init_generic_clock(clock);
rcl_init_generic_clock(clock, allocator);
clock->get_now = rcl_get_system_time;
clock->type = RCL_SYSTEM_TIME;
clock->allocator = *allocator;
Expand Down
21 changes: 19 additions & 2 deletions rcl/test/rcl/test_time.cpp
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Expand Up @@ -263,11 +263,22 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_clock_instantiation) {
rcl_allocator_t allocator = rcl_get_default_allocator();
{
rcl_clock_t uninitialized_clock;
rcl_ret_t ret = rcl_clock_init(
RCL_CLOCK_UNINITIALIZED, &uninitialized_clock, &allocator);
rcl_ret_t ret = rcl_clock_init(RCL_CLOCK_UNINITIALIZED, &uninitialized_clock, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(uninitialized_clock.type, RCL_CLOCK_UNINITIALIZED) <<
"Expected time source of type RCL_CLOCK_UNINITIALIZED";
ret = rcl_clock_fini(&uninitialized_clock);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();
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This is ok, but it still seems unrelated to the PR.
You can add a RCUTILS_CHECK_ALLOCATOR_IS_VALID check after initializing the clock, to test this modification.

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@Blast545 Blast545 Apr 21, 2020 •
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Changed in ce8d867

EXPECT_EQ(
rcl_ros_clock_fini(&uninitialized_clock), RCL_RET_ERROR) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_EQ(
rcl_steady_clock_fini(&uninitialized_clock), RCL_RET_ERROR) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_EQ(
rcl_system_clock_fini(&uninitialized_clock), RCL_RET_ERROR) << rcl_get_error_string().str;
rcl_reset_error();
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}
{
rcl_clock_t ros_clock;
Expand Down Expand Up @@ -296,6 +307,12 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_clock_instantiation) {
ret = rcl_clock_fini(&steady_clock);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
}
{
rcl_clock_t fail_clock;
rcl_clock_type_t undefined_type = (rcl_clock_type_t) 130;
rcl_ret_t ret = rcl_clock_init(undefined_type, &fail_clock, &allocator);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
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}
}

TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
Expand Down