Skip to content

Commit

Permalink
Improve rcl timer test coverage. (ros2#680)
Browse files Browse the repository at this point in the history 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
  • Loading branch information
@hidmic
hidmic committed Jun 19, 2020
1 parent ffcfda1 commit ab20449
Show file tree
Hide file tree
Showing 2 changed files with 219 additions and 9 deletions.
24 changes: 17 additions & 7 deletions rcl/test/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,23 @@ function(test_target_function)
AMENT_DEPENDENCIES ${rmw_implementation}
)

# TODO(hidmic): re-enable timer tests against RTI Connext once
# https://github.com/ros2/rcl/issues/687 is resolved
set(AMENT_GTEST_ARGS "")
if(rmw_implementation STREQUAL "rmw_connext_cpp")
message(STATUS "Skipping test_timer${target_suffix} test.")
set(AMENT_GTEST_ARGS "SKIP_TEST")
endif()

rcl_add_custom_gtest(test_timer${target_suffix}
SRCS rcl/test_timer.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
${AMENT_GTEST_ARGS}
)

rcl_add_custom_gtest(test_context${target_suffix}
SRCS rcl/test_context.cpp
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
Expand Down Expand Up @@ -350,13 +367,6 @@ rcl_add_custom_gtest(test_expand_topic_name
LIBRARIES ${PROJECT_NAME}
)

rcl_add_custom_gtest(test_timer${target_suffix}
SRCS rcl/test_timer.cpp
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
)

rcl_add_custom_gtest(test_security
SRCS rcl/test_security.cpp
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
Expand Down
204 changes: 202 additions & 2 deletions rcl/test/rcl/test_timer.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,102 @@ class TestPreInitTimer : public TestTimerFixture
}
};

TEST_F(TestTimerFixture, test_timer_init_with_invalid_arguments) {
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_timer_t timer = rcl_get_zero_initialized_timer();

ret = rcl_timer_init(
nullptr, &clock, this->context_ptr, RCL_MS_TO_NS(50), nullptr, allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

ret = rcl_timer_init(
&timer, nullptr, this->context_ptr, RCL_MS_TO_NS(50), nullptr, allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

ret = rcl_timer_init(
&timer, &clock, nullptr, RCL_MS_TO_NS(50), nullptr, allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

ret = rcl_timer_init(
&timer, &clock, this->context_ptr, -1, nullptr, allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

rcl_allocator_t invalid_allocator = rcutils_get_zero_initialized_allocator();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(50), nullptr, invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
}

TEST_F(TestTimerFixture, test_timer_with_invalid_clock) {
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret = rcl_clock_init(RCL_CLOCK_UNINITIALIZED, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, 0, nullptr, allocator);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();

ret = rcl_clock_init(RCL_ROS_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

ret = rcl_timer_init(
&timer, &clock, this->context_ptr, 0, nullptr, allocator);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

rcl_clock_t * timer_clock;
ret = rcl_timer_clock(&timer, &timer_clock);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
timer_clock->get_now = nullptr;

// Trigger clock jump callbacks
ret = rcl_enable_ros_time_override(timer_clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_timer_call(&timer);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();

int64_t time_until_next_call;
ret = rcl_timer_get_time_until_next_call(&timer, &time_until_next_call);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();

bool ready;
ret = rcl_timer_is_ready(&timer, &ready);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();

rcl_time_point_value_t time_since_last_call;
ret = rcl_timer_get_time_since_last_call(&timer, &time_since_last_call);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();

ret = rcl_timer_reset(&timer);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}

TEST_F(TestTimerFixture, test_two_timers) {
rcl_ret_t ret;

Expand Down Expand Up @@ -182,8 +278,9 @@ TEST_F(TestTimerFixture, test_two_timers_ready_before_timeout) {
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer2 = rcl_get_zero_initialized_timer();

// Keep the first timer period low enough so that rcl_wait() doesn't timeout too early.
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(50), nullptr, rcl_get_default_allocator());
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_timer_init(
Expand Down Expand Up @@ -274,6 +371,95 @@ TEST_F(TestTimerFixture, test_timer_not_ready) {
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

TEST_F(TestTimerFixture, test_timer_overrun) {
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(200), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

// Force multiple timer timeouts.
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(500));
EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
rcl_reset_error();

bool is_ready = false;
ret = rcl_timer_is_ready(&timer, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(is_ready);

EXPECT_EQ(RCL_RET_OK, rcl_timer_call(&timer)) << rcl_get_error_string().str;

ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Ensure period is re-aligned.
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(10));
EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_timer_is_ready(&timer, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_FALSE(is_ready);
}

TEST_F(TestTimerFixture, test_timer_with_zero_period) {
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, 0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

bool is_ready = false;
ret = rcl_timer_is_ready(&timer, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(is_ready) << rcl_get_error_string().str;

int64_t time_until_next_call = 0;
ret = rcl_timer_get_time_until_next_call(&timer, &time_until_next_call);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_LE(time_until_next_call, 0);

EXPECT_EQ(RCL_RET_OK, rcl_timer_call(&timer)) << rcl_get_error_string().str;
}

TEST_F(TestTimerFixture, test_canceled_timer) {
rcl_ret_t ret;

Expand Down Expand Up @@ -567,6 +753,7 @@ TEST_F(TestPreInitTimer, test_timer_get_allocator) {
EXPECT_TRUE(rcutils_allocator_is_valid(allocator_returned));

EXPECT_EQ(NULL, rcl_timer_get_allocator(nullptr));
rcl_reset_error();
}

TEST_F(TestPreInitTimer, test_timer_clock) {
Expand Down Expand Up @@ -599,8 +786,15 @@ TEST_F(TestPreInitTimer, test_timer_call) {
EXPECT_EQ(RCL_RET_OK, rcl_timer_get_time_until_next_call(&timer, &next_call_end));
EXPECT_GT(next_call_start, next_call_end);

EXPECT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(&this->clock)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_set_ros_time_override(&this->clock, -1)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_ERROR, rcl_timer_call(&timer));
rcl_reset_error();
EXPECT_EQ(times_called, 4);

EXPECT_EQ(RCL_RET_OK, rcl_timer_cancel(&timer)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_TIMER_CANCELED, rcl_timer_call(&timer));
rcl_reset_error();
EXPECT_EQ(times_called, 4);
}

Expand Down Expand Up @@ -654,13 +848,15 @@ TEST_F(TestPreInitTimer, test_invalid_init_fini) {
RCL_RET_ALREADY_INIT, rcl_timer_init(
&timer, &clock, this->context_ptr, 500, nullptr,
rcl_get_default_allocator())) << rcl_get_error_string().str;
rcl_reset_error();

ASSERT_EQ(
RCL_RET_BAD_ALLOC, rcl_timer_init(
&timer_fail, &clock, this->context_ptr, RCL_S_TO_NS(1), timer_callback_test,
bad_allocator)) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(nullptr));
EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(nullptr)) << rcl_get_error_string().str;
}

TEST_F(TestPreInitTimer, test_timer_get_period) {
Expand All @@ -669,14 +865,18 @@ TEST_F(TestPreInitTimer, test_timer_get_period) {
EXPECT_EQ(RCL_S_TO_NS(1), period);

EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_timer_get_period(nullptr, &period));
rcl_reset_error();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_timer_get_period(&timer, nullptr));
rcl_reset_error();
}

TEST_F(TestPreInitTimer, test_time_since_last_call) {
rcl_time_point_value_t time_sice_next_call_start = 0u;
rcl_time_point_value_t time_sice_next_call_end = 0u;

ASSERT_EQ(RCL_RET_OK, rcl_timer_get_time_since_last_call(&timer, &time_sice_next_call_start));
// Cope with coarse system time resolution.
std::this_thread::sleep_for(std::chrono::milliseconds(1));
ASSERT_EQ(RCL_RET_OK, rcl_timer_get_time_since_last_call(&timer, &time_sice_next_call_end));
EXPECT_GT(time_sice_next_call_end, time_sice_next_call_start);
}

0 comments on commit ab20449

Please sign in to comment.