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Cleanups for uncrustify 0.78. (#1134)
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Mostly this is expanding macros, as this is just easier
to read anyway.  But we also mark one section as INDENT-OFF.

Signed-off-by: Chris Lalancette <[email protected]>
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@clalancette
clalancette committed Mar 3, 2024
1 parent 061f546 commit 85f3548
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Showing 3 changed files with 98 additions and 40 deletions.
16 changes: 10 additions & 6 deletions rcl/src/rcl/rmw_implementation_identifier_check.c
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Original file line number Diff line number Diff line change
Expand Up @@ -32,28 +32,32 @@ extern "C"

#include "rcl/rmw_implementation_identifier_check.h"

// *INDENT-OFF*

// Extracted this portable method of doing a "shared library constructor" from SO:
// http://stackoverflow.com/a/2390626/671658
// Initializer/finalizer sample for MSVC and GCC/Clang.
// 2010-2016 Joe Lowe. Released into the public domain.
#if defined(_MSC_VER)
#pragma section(".CRT$XCU", read)
#define INITIALIZER2_(f, p) \
static void f(void); \
__declspec(allocate(".CRT$XCU"))void(*f ## _)(void) = f; \
__pragma(comment(linker, "/include:" p #f "_")) \
static void f(void)
static void f(void); \
__declspec(allocate(".CRT$XCU"))void(*f ## _)(void) = f; \
__pragma(comment(linker, "/include:" p #f "_")) \
static void f(void)
#ifdef _WIN64
#define INITIALIZER(f) INITIALIZER2_(f, "")
#else
#define INITIALIZER(f) INITIALIZER2_(f, "_")
#endif
#else
#define INITIALIZER(f) \
static void f(void) __attribute__((constructor)); \
static void f(void)
static void f(void) __attribute__((constructor)); \
static void f(void)
#endif

// *INDENT-ON*

rcl_ret_t rcl_rmw_implementation_identifier_check(void)
{
// If the environment variable RMW_IMPLEMENTATION is set, or
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90 changes: 68 additions & 22 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1322,18 +1322,9 @@ TEST_F(TestGraphFixture, test_graph_query_functions)
* Note: this test could be impacted by other communications on the same ROS Domain.
*/
TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {
#define CHECK_GUARD_CONDITION_CHANGE(EXPECTED_RESULT, TIMEOUT) do { \
ret = rcl_wait_set_clear(&wait_set); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
ret = rcl_wait(&wait_set, TIMEOUT.count()); \
ASSERT_EQ(EXPECTED_RESULT, ret) << rcl_get_error_string().str; \
} while (0)

rcl_ret_t ret;
std::chrono::nanoseconds timeout_1s = std::chrono::seconds(1);
std::chrono::nanoseconds timeout_3s = std::chrono::seconds(3);
static constexpr std::chrono::nanoseconds timeout_1s = std::chrono::seconds(1);
static constexpr std::chrono::nanoseconds timeout_3s = std::chrono::seconds(3);

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(
Expand Down Expand Up @@ -1375,7 +1366,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since destroying the publisher
Expand All @@ -1384,7 +1380,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since creating the subscription
Expand All @@ -1397,7 +1398,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since destroying the subscription
Expand All @@ -1406,7 +1412,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since creating service
Expand All @@ -1422,7 +1433,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since destroy service
Expand All @@ -1431,7 +1447,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since creating client
Expand All @@ -1447,7 +1468,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since destroying client
Expand All @@ -1456,7 +1482,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since adding new node
Expand All @@ -1467,7 +1498,12 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_3s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Graph change since destroying new node
Expand All @@ -1476,13 +1512,23 @@ TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Should not get graph change if no change
{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_TIMEOUT, timeout_1s);
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, timeout_1s.count());
ASSERT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
}
}

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32 changes: 20 additions & 12 deletions rcl/test/rcl/test_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -652,13 +652,6 @@ MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rmw_time_t, >)

TEST_F(TestPublisherFixtureInit, test_mock_assert_wait_for_all_acked)
{
#define CHECK_PUBLISHER_WAIT_FOR_ALL_ACKED_RETURN(RMW_RET_RESULT, EXPECT_RET) do { \
rmw_publisher_wait_for_all_acked_return = RMW_RET_RESULT; \
ret = rcl_publisher_wait_for_all_acked(&publisher, 1000000); \
EXPECT_EQ(EXPECT_RET, ret); \
rcl_reset_error(); \
} while (0)

rcl_ret_t ret;
rmw_ret_t rmw_publisher_wait_for_all_acked_return;
auto mock = mocking_utils::patch_and_return(
Expand All @@ -668,35 +661,50 @@ TEST_F(TestPublisherFixtureInit, test_mock_assert_wait_for_all_acked)
// Now normal usage of the function rcl_publisher_wait_for_all_acked returning
// unexpected RMW_RET_TIMEOUT
SCOPED_TRACE("Check RCL return failed !");
CHECK_PUBLISHER_WAIT_FOR_ALL_ACKED_RETURN(RMW_RET_TIMEOUT, RCL_RET_TIMEOUT);
rmw_publisher_wait_for_all_acked_return = RMW_RET_TIMEOUT;
ret = rcl_publisher_wait_for_all_acked(&publisher, 1000000);
EXPECT_EQ(RCL_RET_TIMEOUT, ret);
rcl_reset_error();
}

{
// Now normal usage of the function rcl_publisher_wait_for_all_acked returning
// unexpected RMW_RET_UNSUPPORTED
SCOPED_TRACE("Check RCL return failed !");
CHECK_PUBLISHER_WAIT_FOR_ALL_ACKED_RETURN(RMW_RET_UNSUPPORTED, RCL_RET_UNSUPPORTED);
rmw_publisher_wait_for_all_acked_return = RMW_RET_UNSUPPORTED;
ret = rcl_publisher_wait_for_all_acked(&publisher, 1000000);
EXPECT_EQ(RCL_RET_UNSUPPORTED, ret);
rcl_reset_error();
}

{
// Now normal usage of the function rcl_publisher_wait_for_all_acked returning
// unexpected RMW_RET_INVALID_ARGUMENT
SCOPED_TRACE("Check RCL return failed !");
CHECK_PUBLISHER_WAIT_FOR_ALL_ACKED_RETURN(RMW_RET_INVALID_ARGUMENT, RCL_RET_ERROR);
rmw_publisher_wait_for_all_acked_return = RMW_RET_INVALID_ARGUMENT;
ret = rcl_publisher_wait_for_all_acked(&publisher, 1000000);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}

{
// Now normal usage of the function rcl_publisher_wait_for_all_acked returning
// unexpected RMW_RET_INCORRECT_RMW_IMPLEMENTATION
SCOPED_TRACE("Check RCL return failed !");
CHECK_PUBLISHER_WAIT_FOR_ALL_ACKED_RETURN(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, RCL_RET_ERROR);
rmw_publisher_wait_for_all_acked_return = RMW_RET_INCORRECT_RMW_IMPLEMENTATION;
ret = rcl_publisher_wait_for_all_acked(&publisher, 1000000);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}

{
// Now normal usage of the function rcl_publisher_wait_for_all_acked returning
// unexpected RMW_RET_ERROR
SCOPED_TRACE("Check RCL return failed !");
CHECK_PUBLISHER_WAIT_FOR_ALL_ACKED_RETURN(RMW_RET_ERROR, RCL_RET_ERROR);
rmw_publisher_wait_for_all_acked_return = RMW_RET_ERROR;
ret = rcl_publisher_wait_for_all_acked(&publisher, 1000000);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
}

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