Added rmw_service_server_is_available tests (#140)

Signed-off-by: ahcorde <ahcorde@gmail.com>
ros2 · Oct 21, 2020 · c9b156a · c9b156a
1 parent 1cf03a4
commit c9b156a
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Showing 2 changed files with 83 additions and 4 deletions.
diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt
@@ -153,6 +153,7 @@ if(BUILD_TESTING)
     ament_add_gtest(test_client${target_suffix}
       test/test_client.cpp
       ENV ${rmw_implementation_env_var}
+      TIMEOUT 120
     )
     target_compile_definitions(test_client${target_suffix}
       PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")

diff --git a/test_rmw_implementation/test/test_client.cpp b/test_rmw_implementation/test/test_client.cpp
@@ -18,6 +18,7 @@
 
 #include "rcutils/allocator.h"
 #include "rcutils/strdup.h"
+#include "rcutils/testing/fault_injection.h"
 
 #include "rmw/rmw.h"
 #include "rmw/error_handling.h"
@@ -158,10 +159,7 @@ class CLASSNAME (TestClientUse, RMW_IMPLEMENTATION)
   void SetUp() override
   {
     Base::SetUp();
-    constexpr char service_name[] = "/test";
-    const rosidl_service_type_support_t * ts =
-      ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
-    client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
+    client = rmw_create_client(node, ts, service_name, &qos_profile);
     ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
   }
 
@@ -173,6 +171,10 @@ class CLASSNAME (TestClientUse, RMW_IMPLEMENTATION)
   }
 
   rmw_client_t * client{nullptr};
+  const char * const service_name = "/test";
+  const rosidl_service_type_support_t * ts{
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes)};
+  rmw_qos_profile_t qos_profile{rmw_qos_profile_default};
 };
 
 TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_null_node) {
@@ -309,3 +311,79 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), take_response_with_bad_argumen
   EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
   rmw_reset_error();
 }
+
+TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available_bad_args)
+{
+  bool is_available;
+  rmw_ret_t ret = rmw_service_server_is_available(nullptr, client, &is_available);
+  EXPECT_EQ(ret, RMW_RET_ERROR) << rmw_get_error_string().str;
+  rmw_reset_error();
+
+  ret = rmw_service_server_is_available(node, nullptr, &is_available);
+  EXPECT_EQ(ret, RMW_RET_ERROR) << rmw_get_error_string().str;
+  rmw_reset_error();
+
+  ret = rmw_service_server_is_available(node, client, nullptr);
+  EXPECT_EQ(ret, RMW_RET_ERROR) << rmw_get_error_string().str;
+  rmw_reset_error();
+
+  const char * implementation_identifier = client->implementation_identifier;
+  client->implementation_identifier = "not-an-rmw-implementation-identifier";
+  ret = rmw_service_server_is_available(node, client, &is_available);
+  client->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(ret, RMW_RET_INCORRECT_RMW_IMPLEMENTATION) << rmw_get_error_string().str;
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available_good_args)
+{
+  bool is_available;
+  rmw_ret_t ret;
+  SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
+    ret = rmw_service_server_is_available(node, client, &is_available);
+    if (RMW_RET_OK == ret && is_available) {
+      break;
+    }
+  }
+  EXPECT_EQ(ret, RMW_RET_OK) << rmw_get_error_string().str;
+  EXPECT_FALSE(is_available) << rmw_get_error_string().str;
+  rmw_reset_error();
+
+  rmw_service_t * service = rmw_create_service(node, ts, service_name, &qos_profile);
+  ASSERT_NE(nullptr, client) << rcutils_get_error_string().str;
+  SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
+    ret = rmw_service_server_is_available(node, client, &is_available);
+    if (RMW_RET_OK == ret && is_available) {
+      break;
+    }
+  }
+  EXPECT_EQ(ret, RMW_RET_OK) << rmw_get_error_string().str;
+  EXPECT_TRUE(is_available) << rmw_get_error_string().str;
+  rmw_reset_error();
+
+  ret = rmw_destroy_service(node, service);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_client_with_internal_errors)
+{
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+      test_msgs, srv, BasicTypes);
+    rmw_client_t * client_fault = rmw_create_client(
+      node, ts, "/service_name_test",
+      &rmw_qos_profile_default);
+
+    int64_t count = rcutils_fault_injection_get_count();
+    rcutils_fault_injection_set_count(RCUTILS_FAULT_INJECTION_NEVER_FAIL);
+
+    if (client_fault != nullptr) {
+      rmw_ret_t ret = rmw_destroy_client(node, client_fault);
+      EXPECT_EQ(ret, RMW_RET_OK) << rcutils_get_error_string().str;
+    } else {
+      rmw_reset_error();
+    }
+    rcutils_fault_injection_set_count(count);
+  });
+}