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fixing tests for new API behavior
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Signed-off-by: William Woodall <william@osrfoundation.org>
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@wjwwood
wjwwood committed Nov 28, 2018
1 parent fc77ba8 commit 370fca5
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Showing 5 changed files with 70 additions and 36 deletions.
9 changes: 9 additions & 0 deletions rcl/src/rcl/graph.c
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,9 @@ rcl_count_publishers(
const char * topic_name,
size_t * count)
{
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
return RCL_RET_NODE_INVALID; // shouldn't happen, but error is already set if so
Expand All @@ -146,6 +149,9 @@ rcl_count_subscribers(
const char * topic_name,
size_t * count)
{
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
return RCL_RET_NODE_INVALID; // shouldn't happen, but error is already set if so
Expand All @@ -162,6 +168,9 @@ rcl_service_server_is_available(
const rcl_client_t * client,
bool * is_available)
{
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
return RCL_RET_NODE_INVALID; // shouldn't happen, but error is already set if so
Expand Down
19 changes: 12 additions & 7 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ bool is_connext =
class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
public:
rcl_context_t * old_context_ptr;
rcl_context_t * context_ptr;
rcl_node_t * old_node_ptr;
rcl_node_t * node_ptr;
Expand All @@ -64,20 +65,20 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
*this->context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
this->old_context_ptr = new rcl_context_t;
*this->old_context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->old_context_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
this->old_node_ptr = new rcl_node_t;
*this->old_node_ptr = rcl_get_zero_initialized_node();
const char * old_name = "old_node_name";
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(this->old_node_ptr, old_name, "", this->context_ptr, &node_options);
ret = rcl_node_init(this->old_node_ptr, old_name, "", this->old_context_ptr, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_shutdown(this->context_ptr); // after this, the old_node_ptr should be invalid
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_context_fini(this->context_ptr);
ret = rcl_shutdown(this->old_context_ptr); // after this, the old_node_ptr should be invalid
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

this->context_ptr = new rcl_context_t;
*this->context_ptr = rcl_get_zero_initialized_context();

ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
Expand Down Expand Up @@ -112,6 +113,10 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_context_fini(this->context_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
delete this->context_ptr;
ret = rcl_context_fini(this->old_context_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
delete this->old_context_ptr;
}
};

Expand Down
6 changes: 2 additions & 4 deletions rcl/test/rcl/test_guard_condition.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -178,10 +178,8 @@ TEST_F(
options_with_failing_allocator.allocator.zero_allocate = failing_calloc;
ret = rcl_guard_condition_init(&guard_condition, &context, options_with_failing_allocator);
ASSERT_EQ(RCL_RET_BAD_ALLOC, ret) << "Expected RCL_RET_BAD_ALLOC";
// The error will not be set because the allocator will not work.
// It should, however, print a message to the screen and get the bad alloc ret code.
// ASSERT_TRUE(rcl_error_is_set());
// rcl_reset_error();
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();

// Try fini with invalid arguments.
ret = rcl_guard_condition_fini(nullptr);
Expand Down
10 changes: 8 additions & 2 deletions rcl/test/rcl/test_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_ok_and_s
rcl_context_t context = rcl_get_zero_initialized_context();
// A shutdown before any init has been called should fail.
ret = rcl_shutdown(&context);
EXPECT_EQ(RCL_RET_NOT_INIT, ret);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_context_is_valid(&context));
// If argc is not 0, but argv is, it should be an invalid argument.
Expand Down Expand Up @@ -164,12 +164,17 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_ok_and_s
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_OK);
ASSERT_FALSE(rcl_context_is_valid(&context));
// Then a repeated shutdown should fail.
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_ALREADY_SHUTDOWN);
ASSERT_FALSE(rcl_context_is_valid(&context));
rcl_reset_error();
ret = rcl_context_fini(&context);
EXPECT_EQ(ret, RCL_RET_OK);
context = rcl_get_zero_initialized_context();
// A repeat call to shutdown should not work.
ret = rcl_shutdown(&context);
EXPECT_EQ(RCL_RET_NOT_INIT, ret);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_context_is_valid(&context));
// Repeat, but valid, calls to rcl_init() should fail.
Expand Down Expand Up @@ -205,6 +210,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id_a
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_EQ(0u, rcl_context_get_instance_id(&context));
ASSERT_FALSE(rcl_context_is_valid(&context));
rcl_reset_error();
// A non-zero instance id should be returned after a valid init.
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
Expand Down
62 changes: 39 additions & 23 deletions rcl/test/rcl/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,22 +92,22 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
rcl_context_t invalid_context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &invalid_context);
ASSERT_EQ(RCL_RET_OK, ret); // Shutdown later after invalid node.
// Create an invalid node (rcl_shutdown).
rcl_node_t invalid_node = rcl_get_zero_initialized_node();
const char * name = "test_rcl_node_accessors_node";
const char * namespace_ = "/ns";
rcl_node_options_t default_options = rcl_node_get_default_options();
default_options.domain_id = 42; // Set the domain id to something explicit.
ret = rcl_node_init(&invalid_node, name, namespace_, &context, &default_options);
ret = rcl_node_init(&invalid_node, name, namespace_, &invalid_context, &default_options);
if (is_windows && is_opensplice) {
// On Windows with OpenSplice, setting the domain id is not expected to work.
ASSERT_NE(RCL_RET_OK, ret);
// So retry with the default domain id setting (uses the environment as is).
default_options.domain_id = rcl_node_get_default_options().domain_id;
ret = rcl_node_init(&invalid_node, name, namespace_, &context, &default_options);
ret = rcl_node_init(&invalid_node, name, namespace_, &invalid_context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
} else {
// This is the normal check (not windows and windows if not opensplice)
Expand All @@ -118,11 +118,12 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
rcl_ret_t ret = rcl_node_fini(&invalid_node);
EXPECT_EQ(RCL_RET_OK, ret);
});
ret = rcl_shutdown(&context); // Shutdown to invalidate the node.
ASSERT_EQ(RCL_RET_OK, ret);
ret = rcl_context_fini(&context);
ret = rcl_shutdown(&invalid_context); // Shutdown to invalidate the node.
ASSERT_EQ(RCL_RET_OK, ret);
context = rcl_get_zero_initialized_context();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&invalid_context)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
Expand All @@ -149,9 +150,15 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
is_valid = rcl_node_is_valid(&zero_node);
EXPECT_FALSE(is_valid);
rcl_reset_error();

// invalid node will be true for rcl_node_is_valid_except_context, but false for valid only
is_valid = rcl_node_is_valid_except_context(&invalid_node);
EXPECT_TRUE(is_valid);
rcl_reset_error();
is_valid = rcl_node_is_valid(&invalid_node);
EXPECT_FALSE(is_valid);
rcl_reset_error();

is_valid = rcl_node_is_valid(&node);
EXPECT_TRUE(is_valid);
rcl_reset_error();
Expand All @@ -164,14 +171,17 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(nullptr, actual_node_name);
rcl_reset_error();
actual_node_name = rcl_node_get_name(&invalid_node);
EXPECT_EQ(nullptr, actual_node_name);
EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_STREQ(name, actual_node_name);
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
actual_node_name = rcl_node_get_name(&node);
});
EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_EQ(std::string(name), std::string(actual_node_name));
EXPECT_STREQ(name, actual_node_name);
}
// Test rcl_node_get_namespace().
const char * actual_node_namespace;
Expand All @@ -182,7 +192,10 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(nullptr, actual_node_namespace);
rcl_reset_error();
actual_node_namespace = rcl_node_get_namespace(&invalid_node);
EXPECT_EQ(nullptr, actual_node_namespace);
EXPECT_TRUE(actual_node_namespace ? true : false);
if (actual_node_namespace) {
EXPECT_STREQ(namespace_, actual_node_namespace);
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
actual_node_namespace = rcl_node_get_namespace(&node);
Expand All @@ -200,7 +213,10 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(nullptr, actual_node_logger_name);
rcl_reset_error();
actual_node_logger_name = rcl_node_get_logger_name(&invalid_node);
EXPECT_EQ(nullptr, actual_node_logger_name);
EXPECT_TRUE(actual_node_logger_name ? true : false);
if (actual_node_logger_name) {
EXPECT_EQ("ns." + std::string(name), std::string(actual_node_logger_name));
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
actual_node_logger_name = rcl_node_get_logger_name(&node);
Expand All @@ -218,7 +234,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(nullptr, actual_options);
rcl_reset_error();
actual_options = rcl_node_get_options(&invalid_node);
EXPECT_EQ(nullptr, actual_options);
EXPECT_NE(nullptr, actual_options);
if (actual_options) {
EXPECT_EQ(default_options.allocator.allocate, actual_options->allocator.allocate);
EXPECT_EQ(default_options.domain_id, actual_options->domain_id);
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
actual_options = rcl_node_get_options(&node);
Expand All @@ -239,8 +259,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_get_domain_id(&invalid_node, &actual_domain_id);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
ASSERT_TRUE(rcl_error_is_set());
EXPECT_EQ(RCL_RET_OK, ret);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
ret = rcl_node_get_domain_id(&node, &actual_domain_id);
Expand All @@ -259,7 +278,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(nullptr, node_handle);
rcl_reset_error();
node_handle = rcl_node_get_rmw_handle(&invalid_node);
EXPECT_EQ(nullptr, node_handle);
EXPECT_NE(nullptr, node_handle);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
node_handle = rcl_node_get_rmw_handle(&node);
Expand All @@ -274,8 +293,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(0u, instance_id);
rcl_reset_error();
instance_id = rcl_node_get_rcl_instance_id(&invalid_node);
EXPECT_NE(0u, instance_id);
EXPECT_NE(42u, instance_id);
EXPECT_EQ(0u, instance_id);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
instance_id = rcl_node_get_rcl_instance_id(&node);
Expand All @@ -290,7 +308,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
EXPECT_EQ(nullptr, graph_guard_condition);
rcl_reset_error();
graph_guard_condition = rcl_node_get_graph_guard_condition(&invalid_node);
EXPECT_EQ(nullptr, graph_guard_condition);
EXPECT_NE(nullptr, graph_guard_condition);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS({
graph_guard_condition = rcl_node_get_graph_guard_condition(&node);
Expand Down Expand Up @@ -361,10 +379,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle)
options_with_failing_allocator.allocator.reallocate = failing_realloc;
ret = rcl_node_init(&node, name, namespace_, &context, &options_with_failing_allocator);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << "Expected RCL_RET_BAD_ALLOC";
// The error will not be set because the allocator will not work.
// It should, however, print a message to the screen and get the bad alloc ret code.
// ASSERT_TRUE(rcl_error_is_set());
// rcl_reset_error();
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();

// Try fini with invalid arguments.
ret = rcl_node_fini(nullptr);
Expand Down

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