Duplicate empty _node check removed from Subscription.hpp (#23316) (#…

…23317) * Duplicate empty `_node` check removed from Subscription.hpp (#23316) * newline * move uORB gtests to uORB/test --------- Co-authored-by: Jacob Dahl <[email protected]> Co-authored-by: Jacob Dahl <[email protected]>
PX4 · Mar 7, 2025 · 5be867d · 5be867d
1 parent c83fd11
commit 5be867d
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Showing 5 changed files with 164 additions and 20 deletions.
diff --git a/platforms/common/uORB/CMakeLists.txt b/platforms/common/uORB/CMakeLists.txt
@@ -112,4 +112,6 @@ if(PX4_TESTING)
 	add_subdirectory(uORB_tests)
 endif()
 
-px4_add_functional_gtest(SRC uORBMessageFieldsTest.cpp LINKLIBS uORB)
+if(PX4_TESTING)
+	add_subdirectory(test)
+endif()
diff --git a/platforms/common/uORB/Subscription.hpp b/platforms/common/uORB/Subscription.hpp
@@ -118,16 +118,8 @@ class Subscription
 	bool valid() const { return _node != nullptr; }
 	bool advertised()
 	{
-		if (valid()) {
-			return Manager::is_advertised(_node);
-		}
-
-		// try to initialize
 		if (subscribe()) {
-			// check again if valid
-			if (valid()) {
-				return Manager::is_advertised(_node);
-			}
+			return Manager::is_advertised(_node);
 		}
 
 		return false;
@@ -138,11 +130,11 @@ class Subscription
 	 */
 	bool updated()
 	{
-		if (!valid()) {
-			subscribe();
+		if (subscribe()) {
+			return Manager::updates_available(_node, _last_generation);
 		}
 
-		return valid() ? Manager::updates_available(_node, _last_generation) : false;
+		return false;
 	}
 
 	/**
@@ -151,11 +143,11 @@ class Subscription
 	 */
 	bool update(void *dst)
 	{
-		if (!valid()) {
-			subscribe();
+		if (subscribe()) {
+			return Manager::orb_data_copy(_node, dst, _last_generation, true);
 		}
 
-		return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, true) : false;
+		return false;
 	}
 
 	/**
@@ -164,11 +156,11 @@ class Subscription
 	 */
 	bool copy(void *dst)
 	{
-		if (!valid()) {
-			subscribe();
+		if (subscribe()) {
+			return Manager::orb_data_copy(_node, dst, _last_generation, false);
 		}
 
-		return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, false) : false;
+		return false;
 	}
 
 	/**

diff --git a/platforms/common/uORB/test/CMakeLists.txt b/platforms/common/uORB/test/CMakeLists.txt
@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2019-2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_functional_gtest(SRC uORBMessageFieldsTest.cpp LINKLIBS uORB)
+px4_add_functional_gtest(SRC uORBSubscriptionTest.cpp LINKLIBS uORB)
diff --git a/...rms/common/uORB/uORBMessageFieldsTest.cpp → ...ommon/uORB/test/uORBMessageFieldsTest.cpp b/...rms/common/uORB/uORBMessageFieldsTest.cpp → ...ommon/uORB/test/uORBMessageFieldsTest.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "uORBMessageFields.hpp"
+#include <uORB/uORBMessageFields.hpp>
 
 #include <gtest/gtest.h>
 #include <containers/Bitset.hpp>

diff --git a/platforms/common/uORB/test/uORBSubscriptionTest.cpp b/platforms/common/uORB/test/uORBSubscriptionTest.cpp
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Test for Subscription
+ */
+
+#include <gtest/gtest.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/uORB.h>
+#include <uORB/topics/orb_test.h>
+
+namespace uORB
+{
+namespace test
+{
+
+
+class uORBSubscriptionTestable  : public  uORB::Subscription
+{
+public:
+	uORBSubscriptionTestable() : Subscription(ORB_ID(orb_test), 0)
+	{
+	}
+
+	void setNodeValue(void *node)
+	{
+		_node = node;
+
+	}
+	void *getNodeValue()
+	{
+		return _node;
+	}
+
+};
+
+
+class uORBSubscriptionTest : public ::testing::Test
+{
+protected:
+	uORBSubscriptionTestable  testable;
+
+	static void SetUpTestSuite()
+	{
+		uORB::Manager::initialize();
+
+		orb_test_s message{};
+		orb_advertise(ORB_ID(orb_test), &message);
+
+	}
+	static void TearDownTestSuite()
+	{
+		uORB::Manager::terminate();
+	}
+
+	void TearDown() override
+	{
+		testable.setNodeValue(nullptr);
+	}
+
+
+};
+
+TEST_F(uORBSubscriptionTest, updateWhenSubscribedThenNotSubscribedTwice)
+{
+	int anyValue = 1;
+	testable.setNodeValue(&anyValue);
+
+	testable.updated();
+
+	ASSERT_EQ(testable.getNodeValue(), &anyValue) << "Original node value don't have to be overrwiten";
+}
+
+TEST_F(uORBSubscriptionTest, updateWhenNotSubscribedThenSubscribed)
+{
+	testable.setNodeValue(nullptr);
+
+	testable.updated();
+
+	ASSERT_NE(testable.getNodeValue(), nullptr) << "Node value after 'updated' have to be initialized";
+}
+}
+}