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reformat with ament_uncrstify
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Signed-off-by: Chen Lihui <[email protected]>
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Chen Lihui authored and Chen Lihui committed Dec 2, 2020
1 parent c7a834b commit 01ed156
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Showing 3 changed files with 57 additions and 33 deletions.
7 changes: 5 additions & 2 deletions rcl/include/rcl/subscription.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -228,9 +228,12 @@ rcl_subscription_get_default_options(void);
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_subscription_options_copy(const rcl_subscription_options_t * src, rcl_subscription_options_t * dst);
rcl_subscription_options_copy(
const rcl_subscription_options_t * src,
rcl_subscription_options_t * dst
);

/// Reclaim resources held (rmw_subscription_options_t members) inside rcl_subscription_options_t structure.
/// Reclaim resources held inside rcl_subscription_options_t structure.
/**
* <hr>
* Attribute | Adherence
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57 changes: 32 additions & 25 deletions rcl/src/rcl/subscription.c
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Original file line number Diff line number Diff line change
Expand Up @@ -217,7 +217,10 @@ rcl_subscription_get_default_options()
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_subscription_options_copy(const rcl_subscription_options_t * src, rcl_subscription_options_t * dst)
rcl_subscription_options_copy(
const rcl_subscription_options_t * src,
rcl_subscription_options_t * dst
)
{
RCL_CHECK_ARGUMENT_FOR_NULL(src, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(dst, RCL_RET_INVALID_ARGUMENT);
Expand All @@ -228,10 +231,10 @@ rcl_subscription_options_copy(const rcl_subscription_options_t * src, rcl_subscr
dst->qos = src->qos;
dst->allocator = src->allocator;
// copy rmw_subscription_options_t
dst->rmw_subscription_options.rmw_specific_subscription_payload
= src->rmw_subscription_options.rmw_specific_subscription_payload;
dst->rmw_subscription_options.ignore_local_publications
= src->rmw_subscription_options.ignore_local_publications;
dst->rmw_subscription_options.rmw_specific_subscription_payload =
src->rmw_subscription_options.rmw_specific_subscription_payload;
dst->rmw_subscription_options.ignore_local_publications =
src->rmw_subscription_options.ignore_local_publications;
if (src->rmw_subscription_options.filter_expression) {
dst->rmw_subscription_options.filter_expression =
rcutils_strdup(src->rmw_subscription_options.filter_expression, *allocator);
Expand All @@ -242,30 +245,33 @@ rcl_subscription_options_copy(const rcl_subscription_options_t * src, rcl_subscr
}

if (src->rmw_subscription_options.expression_parameters) {
rcutils_string_array_t * parameters
= (rcutils_string_array_t *)allocator->allocate(sizeof(rcutils_string_array_t), allocator->state);
if (!parameters) {
ret = RCL_RET_BAD_ALLOC;
goto clean;
}
rcutils_string_array_t * parameters =
(rcutils_string_array_t *)allocator->allocate(
sizeof(rcutils_string_array_t),
allocator->state);
if (!parameters) {
ret = RCL_RET_BAD_ALLOC;
goto clean;
}

rcutils_ret_t ret = rcutils_string_array_init(
parameters, src->rmw_subscription_options.expression_parameters->size, allocator);
if (RCUTILS_RET_OK != ret) {
rcutils_ret_t ret = rcutils_string_array_init(
parameters, src->rmw_subscription_options.expression_parameters->size, allocator);
if (RCUTILS_RET_OK != ret) {
ret = RCL_RET_BAD_ALLOC;
goto clean;
}

for (size_t i = 0; i < src->rmw_subscription_options.expression_parameters->size; ++i) {
char * parameter = rcutils_strdup(
src->rmw_subscription_options.expression_parameters->data[i], *allocator);
if (!parameter) {
ret = RCL_RET_BAD_ALLOC;
goto clean;
}
parameters->data[i] = parameter;
}

for (size_t i = 0; i < src->rmw_subscription_options.expression_parameters->size; ++i) {
char * parameter = rcutils_strdup(src->rmw_subscription_options.expression_parameters->data[i], *allocator);
if (!parameter) {
ret = RCL_RET_BAD_ALLOC;
goto clean;
}
parameters->data[i] = parameter;
}

dst->rmw_subscription_options.expression_parameters = parameters;
dst->rmw_subscription_options.expression_parameters = parameters;
}

return RCL_RET_OK;
Expand All @@ -292,7 +298,8 @@ rcl_subscription_options_fini(rcl_subscription_options_t * option)
}

if (option->rmw_subscription_options.expression_parameters) {
rcutils_ret_t ret = rcutils_string_array_fini(option->rmw_subscription_options.expression_parameters);
rcutils_ret_t ret = rcutils_string_array_fini(
option->rmw_subscription_options.expression_parameters);
assert(ret == RCUTILS_RET_OK);
allocator->deallocate(option->rmw_subscription_options.expression_parameters, allocator->state);
option->rmw_subscription_options.expression_parameters = NULL;
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26 changes: 20 additions & 6 deletions rcl/test/rcl/test_subscription.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1089,7 +1089,10 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip

/* Test for all failure modes in subscription rcl_subscription_set_cft_expression_parameters function.
*/
TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_rcl_subscription_set_cft_expression_parameters) {
TEST_F(
CLASSNAME(
TestSubscriptionFixtureInit,
RMW_IMPLEMENTATION), test_bad_rcl_subscription_set_cft_expression_parameters) {
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_subscription_set_cft_expression_parameters(nullptr, nullptr, nullptr));
Expand All @@ -1111,7 +1114,9 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_rcl_
std::string filter_expression = "(data_ MATCH '0')";
EXPECT_EQ(
RMW_RET_UNSUPPORTED,
rcl_subscription_set_cft_expression_parameters(&subscription, filter_expression.c_str(), nullptr));
rcl_subscription_set_cft_expression_parameters(
&subscription, filter_expression.c_str(),
nullptr));
rcl_reset_error();
}

Expand All @@ -1121,14 +1126,19 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_rcl_
std::string filter_expression = "(data_ MATCH '0')";
EXPECT_EQ(
RCL_RET_ERROR,
rcl_subscription_set_cft_expression_parameters(&subscription, filter_expression.c_str(), nullptr));
rcl_subscription_set_cft_expression_parameters(
&subscription, filter_expression.c_str(),
nullptr));
rcl_reset_error();
}
}

/* Test for all failure modes in subscription rcl_subscription_get_cft_expression_parameters function.
*/
TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_rcl_subscription_get_cft_expression_parameters) {
TEST_F(
CLASSNAME(
TestSubscriptionFixtureInit,
RMW_IMPLEMENTATION), test_bad_rcl_subscription_get_cft_expression_parameters) {
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_subscription_get_cft_expression_parameters(nullptr, nullptr, nullptr));
Expand Down Expand Up @@ -1162,7 +1172,9 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_rcl_
"lib:rcl", rmw_subscription_get_cft_expression_parameters, RMW_RET_UNSUPPORTED);
EXPECT_EQ(
RMW_RET_UNSUPPORTED,
rcl_subscription_get_cft_expression_parameters(&subscription, &filter_expression, &parameters));
rcl_subscription_get_cft_expression_parameters(
&subscription, &filter_expression,
&parameters));
rcl_reset_error();
}

Expand All @@ -1171,7 +1183,9 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_rcl_
"lib:rcl", rmw_subscription_get_cft_expression_parameters, RMW_RET_ERROR);
EXPECT_EQ(
RCL_RET_ERROR,
rcl_subscription_get_cft_expression_parameters(&subscription, &filter_expression, &parameters));
rcl_subscription_get_cft_expression_parameters(
&subscription, &filter_expression,
&parameters));
rcl_reset_error();
}
}
Expand Down

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