add test

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>

Author: Chen Lihui

rclcpp/include/rclcpp/subscription_options.hpp

@@ -152,13 +152,15 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
 
       if (!content_filter_options.expression_parameters.empty()) {
         rcutils_string_array_t * parameters =
-          static_cast<rcutils_string_array_t *>(allocator.allocate(
+          static_cast<rcutils_string_array_t *>(allocator.zero_allocate(
+            1,
             sizeof(rcutils_string_array_t),
             allocator.state));
         if (!parameters) {
           fail_clean();
           throw std::runtime_error("failed to allocate memory for expression parameters");
         }
+        result.rmw_subscription_options.expression_parameters = parameters;
         rcutils_ret_t ret = rcutils_string_array_init(
           parameters, content_filter_options.expression_parameters.size(), &allocator);
         if (RCUTILS_RET_OK != ret) {
@@ -177,8 +179,6 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
           }
           parameters->data[i] = parameter;
         }
-
-        result.rmw_subscription_options.expression_parameters = parameters;
       }
     }
 

rclcpp/package.xml

@@ -43,6 +43,7 @@
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rosidl_default_generators</test_depend>
+  <test_depend>std_msgs</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>

rclcpp/src/rclcpp/subscription_base.cpp

@@ -48,20 +48,6 @@ SubscriptionBase::SubscriptionBase(
   type_support_(type_support_handle),
   is_serialized_(is_serialized)
 {
-  // finalize subscription_options
-  RCLCPP_SCOPE_EXIT(
-  {
-    rcl_ret_t ret = rcl_subscription_options_fini(
-      const_cast<rcl_subscription_options_t *>(&subscription_options));
-    if (RCL_RET_OK != ret) {
-      RCLCPP_ERROR(
-        rclcpp::get_node_logger(node_handle_.get()).get_child("rclcpp"),
-        "Failed to fini subscription option: %s",
-        rcl_get_error_string().str);
-      rcl_reset_error();
-    }
-  });
-
   auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
     {
       if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {

rclcpp/test/rclcpp/CMakeLists.txt

@@ -430,6 +430,7 @@ if(TARGET test_subscription)
     "rmw"
     "rosidl_runtime_cpp"
     "rosidl_typesupport_cpp"
+    "std_msgs"
     "test_msgs"
   )
   target_link_libraries(test_subscription ${PROJECT_NAME} mimick)

rclcpp/test/rclcpp/test_subscription.cpp

@@ -28,6 +28,7 @@
 #include "../utils/rclcpp_gtest_macros.hpp"
 
 #include "test_msgs/msg/empty.hpp"
+#include "std_msgs/msg/string.hpp"
 
 // Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
 // that this test can complete fully, or adjust the timeout as necessary.
@@ -148,6 +149,44 @@ class SubscriptionClass
   }
 };
 
+class TestCftSubscription : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+  void SetUp()
+  {
+    node = std::make_shared<rclcpp::Node>("test_cft_subscription", "/ns");
+    rclcpp::SubscriptionOptionsBase options_base;
+    options_base.content_filter_options.filter_expression =
+      "data MATCH 'Hello World: 5' or data MATCH %0";
+    options_base.content_filter_options.expression_parameters = {"'Hello World: 10'"};
+    rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> subscription_options(
+      options_base);
+    auto callback = [](std::shared_ptr<const std_msgs::msg::String>) {};
+    sub = node->create_subscription<std_msgs::msg::String>(
+      "topic", 10, callback, subscription_options);
+  }
+
+  void TearDown()
+  {
+    sub.reset();
+    node.reset();
+  }
+
+protected:
+  rclcpp::Node::SharedPtr node;
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub;
+};
+
 /*
    Testing subscription construction and destruction.
  */
@@ -444,6 +483,42 @@ TEST_F(TestSubscription, handle_loaned_message) {
   EXPECT_NO_THROW(sub->handle_loaned_message(&msg, message_info));
 }
 
+TEST_F(TestCftSubscription, is_cft_supported) {
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_subscription_is_cft_supported, false);
+    EXPECT_FALSE(sub->is_cft_supported());
+  }
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_subscription_is_cft_supported, true);
+    EXPECT_TRUE(sub->is_cft_supported());
+  }
+}
+
+TEST_F(TestCftSubscription, get_cft_expression_parameters_error) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_subscription_get_cft_expression_parameters, RCL_RET_ERROR);
+
+  std::string filter_expression;
+  std::vector<std::string> expression_parameters;
+  EXPECT_THROW(
+    sub->get_cft_expression_parameters(filter_expression, expression_parameters),
+    rclcpp::exceptions::RCLError);
+}
+
+TEST_F(TestCftSubscription, set_cft_expression_parameters_error) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_subscription_set_cft_expression_parameters, RCL_RET_ERROR);
+
+  std::string filter_expression = "data MATCH %0";
+  std::string expression_parameter = "'Hello World: 8'";
+  EXPECT_THROW(
+    sub->set_cft_expression_parameters(filter_expression, {expression_parameter}),
+    rclcpp::exceptions::RCLError);
+}
+
 /*
    Testing subscription with intraprocess enabled and invalid QoS
  */