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Fix updater value buffer isolation #49

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Fix updater value buffer isolation #49

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2 changes: 2 additions & 0 deletions NOTICE
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Original file line number Diff line number Diff line change
Expand Up @@ -24,5 +24,7 @@
Capra Robotics ApS
Bartolome Jimenez Vera <bjv@capra.ooo>

Daniil Mordanov <153565951+Daniiiil1@users.noreply.github.com>

Robert Bosch GmbH
Arne Nordmann <arne.nordmann@de.bosch.com>
2 changes: 2 additions & 0 deletions ...os_diagnostic_updater/include/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h
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Expand Up @@ -56,6 +56,8 @@ typedef struct diagnostic_updater_t
diagnostic_task_t * tasks[MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_TASKS_PER_UPDATER];
rcl_publisher_t diag_pub;
micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticStatus diag_status;
micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticKeyValue key_value_buffer[
MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK];
rcl_subscription_t force_update_subscriber;
bool force_update;
std_msgs__msg__Empty empty_msg;
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7 changes: 2 additions & 5 deletions micro_ros_diagnostic_updater/src/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.c
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Expand Up @@ -19,9 +19,6 @@
#include <micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h>
#include <micro_ros_diagnostic_msgs/msg/micro_ros_diagnostic_status.h>

static micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticKeyValue key_value_buffer[
MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK];

void
rclc_diagnostic_value_set_int(
diagnostic_value_t * kv,
Expand Down Expand Up @@ -144,9 +141,9 @@ rclc_diagnostic_updater_init(

// message
micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticStatus__init(&updater->diag_status);
updater->diag_status.values.data = key_value_buffer;
updater->diag_status.values.data = updater->key_value_buffer;
updater->diag_status.values.size = 0;
updater->diag_status.values.capacity = sizeof(key_value_buffer);
updater->diag_status.values.capacity = MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK;

updater->force_update = false;

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47 changes: 47 additions & 0 deletions micro_ros_diagnostic_updater/test/test_diagnostic_updater.cpp
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Expand Up @@ -123,6 +123,53 @@ TEST(TestDiagnosticUpdater, create_updater) {
EXPECT_EQ(RCL_RET_OK, rc);
}

TEST(TestDiagnosticUpdater, updaters_have_independent_value_buffers) {
rclc_support_t support;
rcl_ret_t rc;

// node
rcl_allocator_t allocator = rcl_get_default_allocator();
rc = rclc_support_init(&support, 0, nullptr, &allocator);
const char * my_name = "test_independent_updaters_node";
const char * my_namespace = "";
rcl_node_t node = rcl_get_zero_initialized_node();
rc = rclc_node_init_default(&node, my_name, my_namespace, &support);

// executor
rclc_executor_t executor;
executor = rclc_executor_get_zero_initialized_executor();
unsigned int num_handles = 2;
rclc_executor_init(&executor, &support.context, num_handles, &allocator);

// updaters
diagnostic_updater_t updater_0;
diagnostic_updater_t updater_1;
rc = rclc_diagnostic_updater_init(&updater_0, &node, &executor);
ASSERT_EQ(RCL_RET_OK, rc);
rc = rclc_diagnostic_updater_init(&updater_1, &node, &executor);
ASSERT_EQ(RCL_RET_OK, rc);

EXPECT_EQ(updater_0.key_value_buffer, updater_0.diag_status.values.data);
EXPECT_EQ(updater_1.key_value_buffer, updater_1.diag_status.values.data);
EXPECT_NE(updater_0.diag_status.values.data, updater_1.diag_status.values.data);
EXPECT_EQ(
MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK,
updater_0.diag_status.values.capacity);
EXPECT_EQ(
MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK,
updater_1.diag_status.values.capacity);

updater_0.key_value_buffer[0].key = 17;
updater_1.key_value_buffer[0].key = 42;
EXPECT_EQ(17, updater_0.diag_status.values.data[0].key);
EXPECT_EQ(42, updater_1.diag_status.values.data[0].key);

rc = rclc_diagnostic_updater_fini(&updater_0, &node, &executor);
EXPECT_EQ(RCL_RET_OK, rc);
rc = rclc_diagnostic_updater_fini(&updater_1, &node, &executor);
EXPECT_EQ(RCL_RET_OK, rc);
}

TEST(TestDiagnosticUpdater, updater_add_tasks) {
rclc_support_t support;
rcl_ret_t rc;
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