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Add tests to publisher and init modules of rcl #657

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merged 14 commits into from
May 28, 2020
Merged

Add tests to publisher and init modules of rcl #657

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1936335
Add tests get_rmw_init_options & get_allocator
Blast545 May 18, 2020
b776b29
Add tests liveliness, access and loan functions
Blast545 May 19, 2020
7a884e7
Add tests invalid arguments to get funcs
Blast545 May 19, 2020
31f8b80
Add peer review comments
Blast545 May 19, 2020
89af1d0
Fix pointer related issues
Blast545 May 19, 2020
58da62a
Add test for publisher implementation null
Blast545 May 20, 2020
2b24e61
Add tests for valid argument on access functions
Blast545 May 21, 2020
092911f
Add more tests invalid publisher parameter
Blast545 May 21, 2020
85f871b
Add rcl_reset_error to clear expected errors
Blast545 May 21, 2020
0281210
Add two init-fini tests
Blast545 May 22, 2020
3c9d97b
Add tests for init functions
Blast545 May 22, 2020
88f93b0
Address peer review feedack
Blast545 May 27, 2020
cc6e0bb
Add missing fini calls
Blast545 May 27, 2020
c6bef03
Enable fini procedure after scope ends
Blast545 May 27, 2020
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1 change: 1 addition & 0 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -186,6 +186,7 @@ function(test_target_function)
SRCS rcl/test_publisher.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
)
Expand Down
32 changes: 32 additions & 0 deletions rcl/test/rcl/test_init.cpp
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Expand Up @@ -111,6 +111,10 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_shutdown
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_context_is_valid(&context));
// Already init
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// If argc is not 0, but argv is, it should be an invalid argument.
ret = rcl_init(42, nullptr, &init_options, &context);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
Expand All @@ -122,6 +126,11 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_shutdown
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_context_is_valid(&context));
// If argc is less than 1, argv is not null, it should be an invalid argument.
ret = rcl_init(0, invalid_args, &init_options, &context);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_context_is_valid(&context));
// If either the allocate or deallocate function pointers are not set, it should be invalid arg.
init_options.impl->allocator.allocate = nullptr;
ret = rcl_init(0, nullptr, &init_options, &context);
Expand Down Expand Up @@ -271,3 +280,26 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id)
ret = rcl_context_fini(&context);
EXPECT_EQ(ret, RCL_RET_OK);
}

TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_access) {
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});

rmw_init_options_t * options = rcl_init_options_get_rmw_init_options(&init_options);
ASSERT_NE(nullptr, options);
EXPECT_EQ(0u, options->instance_id);
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EXPECT_EQ(nullptr, options->impl);

const rcl_allocator_t * options_allocator = rcl_init_options_get_allocator(&init_options);
EXPECT_TRUE(rcutils_allocator_is_valid(options_allocator));

rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
EXPECT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst));
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EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst));
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst));
}
200 changes: 200 additions & 0 deletions rcl/test/rcl/test_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"

#include "./publisher_impl.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
Expand Down Expand Up @@ -202,10 +204,18 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(rcl_publisher_is_valid(&publisher));
// Try init a publisher already init
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Pass invalid node to fini
ret = rcl_publisher_fini(&publisher, nullptr);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing null for publisher in init.
ret = rcl_publisher_init(nullptr, this->node_ptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -290,3 +300,193 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

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TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_loan) {
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_ret_t ret =
rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

test_msgs__msg__Strings * msg_loaned = nullptr;
test_msgs__msg__Strings ** msg_loaned_ptr = &msg_loaned;
if (rcl_publisher_can_loan_messages(&publisher)) {
EXPECT_EQ(
RCL_RET_OK, rcl_borrow_loaned_message(
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&publisher,
ts,
reinterpret_cast<void **>(msg_loaned_ptr)));
ASSERT_TRUE(rosidl_runtime_c__String__assign(&(msg_loaned->string_value), "testing"));
EXPECT_EQ(
RCL_RET_OK, rcl_publish_loaned_message(
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&publisher,
msg_loaned,
nullptr));
}
}

TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_invalid_publisher) {
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_ret_t ret =
rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

const rcl_publisher_options_t * publisher_options_rcv = rcl_publisher_get_options(&publisher);
ASSERT_NE(nullptr, publisher_options_rcv);
EXPECT_EQ(rmw_qos_profile_default.reliability, publisher_options_rcv->qos.reliability);
EXPECT_EQ(rmw_qos_profile_default.history, publisher_options_rcv->qos.history);
EXPECT_EQ(rmw_qos_profile_default.depth, publisher_options_rcv->qos.depth);
EXPECT_EQ(rmw_qos_profile_default.durability, publisher_options_rcv->qos.durability);
EXPECT_TRUE(rcutils_allocator_is_valid(&(publisher_options_rcv->allocator)));

rmw_publisher_t * pub_rmw_handle = rcl_publisher_get_rmw_handle(&publisher);
EXPECT_NE(nullptr, pub_rmw_handle);

rcl_context_t * pub_context = rcl_publisher_get_context(&publisher);
EXPECT_TRUE(rcl_context_is_valid(pub_context));
EXPECT_EQ(rcl_context_get_instance_id(context_ptr), rcl_context_get_instance_id(pub_context));

EXPECT_EQ(RCL_RET_OK, rcl_publisher_assert_liveliness(&publisher));

size_t count_size;
test_msgs__msg__BasicTypes msg;
rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
rcl_publisher_impl_t * saved_impl = publisher.impl;
rcl_context_t * saved_context = publisher.impl->context;
rmw_publisher_t * saved_rmw_handle = publisher.impl->rmw_handle;

// Change internal context to nullptr
publisher.impl->context = nullptr;
EXPECT_TRUE(rcl_publisher_is_valid_except_context(&publisher));
EXPECT_NE(nullptr, rcl_publisher_get_topic_name(&publisher));
EXPECT_NE(nullptr, rcl_publisher_get_rmw_handle(&publisher));
EXPECT_NE(nullptr, rcl_publisher_get_actual_qos(&publisher));
EXPECT_NE(nullptr, rcl_publisher_get_options(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_can_loan_messages(&publisher));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(&publisher, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(&publisher));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(&publisher, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(&publisher, &serialized_msg, nullptr));
rcl_reset_error();
publisher.impl->context = saved_context;

// Change internal rmw_handle to nullptr
publisher.impl->rmw_handle = nullptr;
EXPECT_FALSE(rcl_publisher_is_valid_except_context(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_topic_name(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_rmw_handle(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_actual_qos(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_options(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_can_loan_messages(&publisher));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(&publisher, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(&publisher));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(&publisher, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(&publisher, &serialized_msg, nullptr));
rcl_reset_error();
publisher.impl->rmw_handle = saved_rmw_handle;

// Change internal implementation to nullptr
publisher.impl = nullptr;
EXPECT_FALSE(rcl_publisher_is_valid_except_context(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_topic_name(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_rmw_handle(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_actual_qos(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_options(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_can_loan_messages(&publisher));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(&publisher, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(&publisher));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(&publisher, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(&publisher, &serialized_msg, nullptr));
rcl_reset_error();
publisher.impl = saved_impl;

// Null tests
EXPECT_FALSE(rcl_publisher_is_valid_except_context(nullptr));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_topic_name(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_rmw_handle(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_actual_qos(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_options(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(nullptr));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_can_loan_messages(nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(nullptr, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(nullptr));
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rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(nullptr, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(nullptr, &serialized_msg, nullptr));
rcl_reset_error();
}