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Make sure to check the return value of rcl APIs. #838

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merged 1 commit into from
Oct 19, 2020
Merged

Make sure to check the return value of rcl APIs. #838

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5 changes: 5 additions & 0 deletions rcl/test/rcl/client_fixture.cpp
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Expand Up @@ -54,6 +54,11 @@ int main(int argc, char ** argv)
}
});
ret = rcl_init_options_fini(&init_options);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in options fini: %s", rcl_get_error_string().str);
return -1;
}
rcl_node_t node = rcl_get_zero_initialized_node();
const char * name = "client_fixture_node";
rcl_node_options_t node_options = rcl_node_get_default_options();
Expand Down
5 changes: 5 additions & 0 deletions rcl/test/rcl/service_fixture.cpp
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Expand Up @@ -59,6 +59,11 @@ int main(int argc, char ** argv)
}
});
ret = rcl_init_options_fini(&init_options);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in options fini: %s", rcl_get_error_string().str);
return -1;
}
rcl_node_t node = rcl_get_zero_initialized_node();
const char * name = "service_fixture_node";
rcl_node_options_t node_options = rcl_node_get_default_options();
Expand Down
1 change: 1 addition & 0 deletions rcl/test/rcl/test_count_matched.cpp
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Expand Up @@ -126,6 +126,7 @@ class CLASSNAME (TestCountFixture, RMW_IMPLEMENTATION) : public ::testing::Test
*this->wait_set_ptr = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(
this->wait_set_ptr, 0, 1, 0, 0, 0, 0, this->context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void TearDown()
Expand Down
1 change: 1 addition & 0 deletions rcl/test/rcl/test_graph.cpp
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Expand Up @@ -888,6 +888,7 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
this->remote_context_ptr = new rcl_context_t;
*this->remote_context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->remote_context_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_node_init(
remote_node_ptr, remote_node_name, "", this->remote_context_ptr,
Expand Down
3 changes: 3 additions & 0 deletions rcl/test/rcl/test_rmw_impl_id_check_exe.cpp
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Expand Up @@ -27,6 +27,9 @@ int main(int, char **)
return ret;
}
ret = rcl_init_options_fini(&init_options);
if (ret != RCL_RET_OK) {
return ret;
}
ret = rcl_shutdown(&context);
if (ret != RCL_RET_OK) {
return ret;
Expand Down
6 changes: 6 additions & 0 deletions rcl/test/rcl/test_subscription.cpp
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Expand Up @@ -420,7 +420,9 @@ TEST_F(
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_publish(&publisher, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -488,9 +490,13 @@ TEST_F(
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_publish(&publisher, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_publish(&publisher, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_publish(&publisher, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down
2 changes: 2 additions & 0 deletions rcl/test/test_namespace.cpp
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Expand Up @@ -106,6 +106,7 @@ TEST_F(TestNamespaceFixture, test_client_server) {
bool is_available = false;
for (auto i = 0; i < timeout; ++i) {
ret = rcl_service_server_is_available(this->node_ptr, &unmatched_client, &is_available);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
if (is_available) {
// this should not happen
break;
Expand All @@ -128,6 +129,7 @@ TEST_F(TestNamespaceFixture, test_client_server) {
is_available = false;
for (auto i = 0; i < timeout; ++i) {
ret = rcl_service_server_is_available(this->node_ptr, &matched_client, &is_available);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
if (is_available) {
break;
}
Expand Down
1 change: 0 additions & 1 deletion rcl_action/test/rcl_action/test_action_client.cpp
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Expand Up @@ -165,7 +165,6 @@ TEST_F(TestActionClientBaseFixture, test_action_client_init_fini) {
EXPECT_EQ(ret, RCL_RET_BAD_ALLOC) << rcl_get_error_string().str;
rcl_reset_error();

ret = RCL_RET_OK;
int i = 0;
do {
time_bomb_state.malloc_count_until_failure = i;
Expand Down
5 changes: 5 additions & 0 deletions rcl_action/test/rcl_action/test_action_communication.cpp
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Expand Up @@ -55,6 +55,7 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
ret = rcl_node_init(&this->node, "test_action_communication_node", "", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_clock_init(RCL_STEADY_TIME, &this->clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
const rosidl_action_type_support_t * ts = ROSIDL_GET_ACTION_TYPE_SUPPORT(
test_msgs, Fibonacci);
const char * action_name = "test_action_commmunication_name";
Expand Down Expand Up @@ -227,6 +228,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -346,6 +348,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -463,6 +466,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -535,6 +539,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down
13 changes: 13 additions & 0 deletions rcl_action/test/rcl_action/test_action_interaction.cpp
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Expand Up @@ -67,6 +67,7 @@ class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public
ret = rcl_node_init(&this->node, "test_action_communication_node", "", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_clock_init(RCL_STEADY_TIME, &this->clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
const rosidl_action_type_support_t * ts = ROSIDL_GET_ACTION_TYPE_SUPPORT(
test_msgs, Fibonacci);
const char * action_name = "test_action_commmunication_name";
Expand Down Expand Up @@ -216,6 +217,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
Expand Down Expand Up @@ -261,6 +263,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -319,6 +322,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -363,6 +367,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
this->outgoing_feedback.feedback.sequence.size));

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
Expand Down Expand Up @@ -413,6 +418,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -484,6 +490,7 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
Expand Down Expand Up @@ -529,6 +536,7 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -587,6 +595,7 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -631,6 +640,7 @@ TEST_F(
this->outgoing_feedback.feedback.sequence.size));

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
Expand Down Expand Up @@ -687,6 +697,7 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
Expand Down Expand Up @@ -737,6 +748,7 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down Expand Up @@ -786,6 +798,7 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_wait_set_clear(&this->wait_set);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
Expand Down
1 change: 1 addition & 0 deletions rcl_action/test/rcl_action/test_graph.cpp
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Expand Up @@ -296,6 +296,7 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,

this->remote_context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &this->remote_context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_node_init(
&this->remote_node, this->remote_node_name, "", &this->remote_context, &node_options);
Expand Down
6 changes: 6 additions & 0 deletions rcl_action/test/rcl_action/test_wait.cpp
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Expand Up @@ -294,6 +294,7 @@ TEST_F(TestActionServerWait, test_wait_set_add_action_server) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
ret = rcl_wait_set_init(
&wait_set, 0, 0, 0, 0, 0, 0, &this->context, rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, &service_index);
EXPECT_EQ(ret, RCL_RET_WAIT_SET_FULL) << rcl_get_error_string().str;
Expand All @@ -305,6 +306,7 @@ TEST_F(TestActionServerWait, test_wait_set_add_action_server) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
ret = rcl_wait_set_init(
&wait_set, 0, 0, 0, 0, 1, 0, &this->context, rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, &service_index);
EXPECT_EQ(ret, RCL_RET_WAIT_SET_FULL) << rcl_get_error_string().str;
Expand All @@ -316,6 +318,7 @@ TEST_F(TestActionServerWait, test_wait_set_add_action_server) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
ret = rcl_wait_set_init(
&wait_set, 0, 0, 0, 0, 2, 0, &this->context, rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, &service_index);
EXPECT_EQ(ret, RCL_RET_WAIT_SET_FULL) << rcl_get_error_string().str;
Expand All @@ -327,6 +330,7 @@ TEST_F(TestActionServerWait, test_wait_set_add_action_server) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
ret = rcl_wait_set_init(
&wait_set, 0, 0, 0, 0, 3, 0, &this->context, rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, &service_index);
EXPECT_EQ(ret, RCL_RET_WAIT_SET_FULL) << rcl_get_error_string().str;
Expand All @@ -338,6 +342,7 @@ TEST_F(TestActionServerWait, test_wait_set_add_action_server) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
ret = rcl_wait_set_init(
&wait_set, 0, 0, 1, 0, 3, 0, &this->context, rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, &service_index);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
Expand All @@ -347,6 +352,7 @@ TEST_F(TestActionServerWait, test_wait_set_add_action_server) {
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
ret = rcl_wait_set_init(
&wait_set, 0, 0, 1, 0, 3, 0, &this->context, rcl_get_default_allocator());
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_FALSE(rcl_error_is_set()) << rcl_get_error_string().str;
Expand Down
1 change: 1 addition & 0 deletions rcl_lifecycle/test/test_rcl_lifecycle.cpp
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Expand Up @@ -69,6 +69,7 @@ TEST(TestRclLifecycle, lifecycle_state) {
rcutils_reset_error();

ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(expected_id, state.id);
EXPECT_STREQ(&expected_label[0], state.label);

Expand Down
3 changes: 1 addition & 2 deletions rcl_lifecycle/test/test_transition_map.cpp
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Expand Up @@ -73,6 +73,7 @@ TEST_F(TestTransitionMap, initialized) {

rcl_lifecycle_state_t state1 = {"my_state_1", 1, NULL, 0};
ret = rcl_lifecycle_register_state(&transition_map, state1, &allocator);
ASSERT_EQ(RCL_RET_OK, ret);

rcl_lifecycle_state_t unregistered = {"my_state_2", 2, NULL, 0};

Expand All @@ -96,15 +97,13 @@ TEST_F(TestTransitionMap, initialized) {

rcl_lifecycle_transition_t transition01 = {"from0to1", 0,
start_state, goal_state};
original_size = transition_map.transitions_size;
ret = rcl_lifecycle_register_transition(
&transition_map, transition01, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(1u, transition_map.transitions_size);

rcl_lifecycle_transition_t transition10 = {"from1to0", 1,
goal_state, start_state};
original_size = transition_map.transitions_size;
ret = rcl_lifecycle_register_transition(
&transition_map, transition10, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
Expand Down