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test_find_weak_nodes.cpp
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82 lines (70 loc) · 2.91 KB
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// Copyright 2016 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.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include <memory>
#include "rclcpp/strategies/allocator_memory_strategy.hpp"
#include "rclcpp/memory_strategy.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/rclcpp.hpp"
class TestFindWeakNodes : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
};
TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
// GIVEN
// A vector of weak pointers to nodes
auto memory_strategy = std::make_shared<
rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
auto existing_node = rclcpp::Node::make_shared("existing_node");
auto dead_node = rclcpp::Node::make_shared("dead_node");
rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
weak_nodes.push_back(existing_node->get_node_base_interface());
weak_nodes.push_back(dead_node->get_node_base_interface());
// AND
// Delete dead_node, creating a dangling pointer in weak_nodes
dead_node.reset();
ASSERT_FALSE(weak_nodes[0].expired());
ASSERT_TRUE(weak_nodes[1].expired());
// WHEN
bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
// THEN
// The result of finding dangling node pointers should be true
ASSERT_TRUE(has_invalid_weak_nodes);
// Prevent memory leak due to the order of destruction
memory_strategy->clear_handles();
}
TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
// GIVEN
// A vector of weak pointers to nodes, all valid
auto memory_strategy = std::make_shared<
rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
weak_nodes.push_back(existing_node1->get_node_base_interface());
weak_nodes.push_back(existing_node2->get_node_base_interface());
ASSERT_FALSE(weak_nodes[0].expired());
ASSERT_FALSE(weak_nodes[1].expired());
// WHEN
bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
// THEN
// The result of finding dangling node pointers should be false
ASSERT_FALSE(has_invalid_weak_nodes);
// Prevent memory leak due to the order of destruction
memory_strategy->clear_handles();
}