updates to use new memory_tools from osrf_testing_tools_cpp

ros2 · May 22, 2018 · f36aa7d · f36aa7d
1 parent c052e6b
commit f36aa7d
Show file tree

Hide file tree

Showing 19 changed files with 496 additions and 677 deletions.
diff --git a/rcl/package.xml b/rcl/package.xml
@@ -35,6 +35,7 @@
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>example_interfaces</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>std_msgs</test_depend>
 
   <export>

diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
@@ -6,64 +6,65 @@ find_package(std_msgs REQUIRED)
 
 find_package(rmw_implementation_cmake REQUIRED)
 
+find_package(osrf_testing_tools_cpp REQUIRED)
+
+get_target_property(memory_tools_ld_preload_env_var
+    osrf_testing_tools_cpp::memory_tools LIBRARY_PRELOAD_ENVIRONMENT_VARIABLE)
+
 include(cmake/rcl_add_custom_executable.cmake)
 include(cmake/rcl_add_custom_gtest.cmake)
 include(cmake/rcl_add_custom_launch_test.cmake)
 
-set(extra_test_libraries)
-set(extra_test_env)
 set(extra_lib_dirs "${rcl_lib_dir}")
 
 # finding gtest once in the highest scope
 # prevents finding it repeatedly in each local scope
 ament_find_gtest()
 
-# This subdirectory extends both extra_test_libraries, extra_test_env, and extra_lib_dirs.
-add_subdirectory(memory_tools)
-
 macro(test_target)
   find_package(${rmw_implementation} REQUIRED)
   test_target_function()
 endmacro()
 
 function(test_target_function)
   message(STATUS "Creating tests for '${rmw_implementation}'")
-  list(APPEND extra_test_env RMW_IMPLEMENTATION=${rmw_implementation})
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
   # Gtests
 
   rcl_add_custom_gtest(test_client${target_suffix}
     SRCS rcl/test_client.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_gtest(test_time${target_suffix}
     SRCS rcl/test_time.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_common${target_suffix}
     SRCS rcl/test_common.cpp
     ENV
-      ${extra_test_env}
+      ${rmw_implementation_env_var}
       EMPTY_TEST=
       NORMAL_TEST=foo
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_get_node_names${target_suffix}
     SRCS rcl/test_get_node_names.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -77,118 +78,130 @@ function(test_target_function)
   endif()
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
     ${SKIP_TEST}
   )
 
   rcl_add_custom_gtest(test_rcl${target_suffix}
     SRCS rcl/test_rcl.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_node${target_suffix}
     SRCS rcl/test_node.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_arguments${target_suffix}
     SRCS rcl/test_arguments.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
   )
 
   rcl_add_custom_gtest(test_remap${target_suffix}
     SRCS rcl/test_remap.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
   )
 
   rcl_add_custom_gtest(test_remap_integration${target_suffix}
     SRCS rcl/test_remap_integration.cpp
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     TIMEOUT 200
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES "std_msgs" "example_interfaces"
   )
 
   rcl_add_custom_gtest(test_guard_condition${target_suffix}
     SRCS rcl/test_guard_condition.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_publisher${target_suffix}
     SRCS rcl/test_publisher.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
   )
 
   rcl_add_custom_gtest(test_service${target_suffix}
     SRCS rcl/test_service.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_gtest(test_subscription${target_suffix}
     SRCS rcl/test_subscription.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
   )
 
   rcl_add_custom_gtest(test_wait${target_suffix}
     SRCS rcl/test_wait.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_namespace${target_suffix}
     SRCS test_namespace.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   # Launch tests
 
   rcl_add_custom_executable(service_fixture${target_suffix}
     SRCS rcl/service_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_executable(client_fixture${target_suffix}
     SRCS rcl/client_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_launch_test(test_services
     service_fixture
     client_fixture
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     TIMEOUT 15
   )
@@ -233,21 +246,22 @@ call_for_each_rmw_implementation(test_target)
 
 rcl_add_custom_gtest(test_validate_topic_name
   SRCS rcl/test_validate_topic_name.cpp
-  ENV ${extra_test_env}
+  ENV ${rmw_implementation_env_var}
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+  LIBRARIES ${PROJECT_NAME}
 )
 
 rcl_add_custom_gtest(test_expand_topic_name
   SRCS rcl/test_expand_topic_name.cpp
-  ENV ${extra_test_env}
+  ENV ${rmw_implementation_env_var}
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+  LIBRARIES ${PROJECT_NAME}
 )
 
 rcl_add_custom_gtest(test_timer${target_suffix}
   SRCS rcl/test_timer.cpp
-  ENV ${extra_test_env}
+  INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+  ENV ${rmw_implementation_env_var}
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+  LIBRARIES ${PROJECT_NAME}
 )
diff --git a/rcl/test/rcl/arg_macros.hpp b/rcl/test/rcl/arg_macros.hpp
@@ -19,7 +19,7 @@
 #include "rcl/rcl.h"
 #include "rcutils/strdup.h"
 
-#include "../scope_exit.hpp"
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
 
 /// Helper to get around non-const args passed to rcl_init().
 char **
@@ -52,12 +52,11 @@ destroy_args(int argc, char ** args)
     rcl_ret_t ret = rcl_init(argc, argv, rcl_get_default_allocator()); \
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); \
   } \
-  auto __scope_global_args_exit = make_scope_exit( \
-    [argc, argv] { \
-      destroy_args(argc, argv); \
-      rcl_ret_t ret = rcl_shutdown(); \
-      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); \
-    })
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ \
+    destroy_args(argc, argv); \
+    rcl_ret_t ret = rcl_shutdown(); \
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); \
+  })
 
 #define SCOPE_ARGS(local_arguments, ...) \
   { \
@@ -67,9 +66,8 @@ destroy_args(int argc, char ** args)
       local_argc, local_argv, rcl_get_default_allocator(), &local_arguments); \
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); \
   } \
-  auto __scope_ ## local_arguments ## _exit = make_scope_exit( \
-    [&local_arguments] { \
-      ASSERT_EQ(RCL_RET_OK, rcl_arguments_fini(&local_arguments)); \
-    })
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ \
+    ASSERT_EQ(RCL_RET_OK, rcl_arguments_fini(&local_arguments)); \
+  })
 
 #endif  // RCL__ARG_MACROS_HPP_
diff --git a/rcl/test/rcl/client_fixture.cpp b/rcl/test/rcl/client_fixture.cpp
@@ -23,8 +23,7 @@
 
 #include "example_interfaces/srv/add_two_ints.h"
 
-#include "../memory_tools/memory_tools.hpp"
-#include "../scope_exit.hpp"
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
 #include "rcl/graph.h"
 
@@ -68,14 +67,13 @@ wait_for_client_to_be_ready(
       ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
-  auto wait_set_exit = make_scope_exit(
-    [&wait_set]() {
-      if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
-        RCUTILS_LOG_ERROR_NAMED(
-          ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe())
-        throw std::runtime_error("error while waiting for client");
-      }
-    });
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe())
+      throw std::runtime_error("error while waiting for client");
+    }
+  });
   size_t iteration = 0;
   do {
     ++iteration;
@@ -123,14 +121,13 @@ int main(int argc, char ** argv)
         ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
-    auto node_exit = make_scope_exit(
-      [&main_ret, &node]() {
-        if (rcl_node_fini(&node) != RCL_RET_OK) {
-          RCUTILS_LOG_ERROR_NAMED(
-            ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe())
-          main_ret = -1;
-        }
-      });
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+      if (rcl_node_fini(&node) != RCL_RET_OK) {
+        RCUTILS_LOG_ERROR_NAMED(
+          ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe())
+        main_ret = -1;
+      }
+    });
 
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
       example_interfaces, AddTwoInts);
@@ -145,14 +142,13 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    auto client_exit = make_scope_exit(
-      [&client, &main_ret, &node]() {
-        if (rcl_client_fini(&client, &node)) {
-          RCUTILS_LOG_ERROR_NAMED(
-            ROS_PACKAGE_NAME, "Error in client fini: %s", rcl_get_error_string_safe())
-          main_ret = -1;
-        }
-      });
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+      if (rcl_client_fini(&client, &node)) {
+        RCUTILS_LOG_ERROR_NAMED(
+          ROS_PACKAGE_NAME, "Error in client fini: %s", rcl_get_error_string_safe())
+        main_ret = -1;
+      }
+    });
 
     // Wait until server is available
     if (!wait_for_server_to_be_available(&node, &client, 1000, 100)) {