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Improve rcl timer test coverage.
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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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@hidmic
hidmic committed Jun 12, 2020
1 parent 7723308 commit 6bc2557
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Showing 2 changed files with 121 additions and 7 deletions.
20 changes: 13 additions & 7 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,19 @@ function(test_target_function)
AMENT_DEPENDENCIES ${rmw_implementation}
)

set(timer_test_timeout 60)
if(rmw_implementation STREQUAL "rmw_connext_cpp")
set(timer_test_timeout 90) # Bump timeout for RTI Connext
endif()
rcl_add_custom_gtest(test_timer${target_suffix}
SRCS rcl/test_timer.cpp
ENV ${rmw_implementation_env_var}
TIMEOUT ${timer_test_timeout}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
)

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 +363,6 @@ 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
108 changes: 108 additions & 0 deletions rcl/test/rcl/test_timer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -274,6 +274,104 @@ 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_reset_error();
});

rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(100), 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_reset_error();
});

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;
rcl_reset_error();
});

// 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);
rcl_reset_error();

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

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

// Ensure period is re-aligned.
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(50));
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);
rcl_reset_error();
}

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_TRUE(is_ready) << rcl_get_error_string().str;
rcl_reset_error();

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);
rcl_reset_error();

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

TEST_F(TestTimerFixture, test_canceled_timer) {
rcl_ret_t ret;

Expand Down Expand Up @@ -567,6 +665,7 @@ 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 @@ -601,6 +700,7 @@ TEST_F(TestPreInitTimer, test_timer_call) {

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 @@ -650,17 +750,21 @@ TEST_F(TestPreInitTimer, test_invalid_init_fini) {
rcl_allocator_t bad_allocator = get_failing_allocator();
rcl_timer_t timer_fail = rcl_get_zero_initialized_timer();

rcl_reset_error();
EXPECT_EQ(
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));
rcl_reset_error();
}

TEST_F(TestPreInitTimer, test_timer_get_period) {
Expand All @@ -669,14 +773,18 @@ 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);
}

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