niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Add coverage tests wait module (#769)

Browse source 
* Add coverage tests wait module
* Add fault injection test
* Add zero_init allocator test to init
* Remove bomb allocator test
* Add better handling fault injection
* Add comment to fault injection tests
* Move test to another section

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
This commit is contained in:
Jorge Perez 2020-09-01 12:23:49 -03:00 • committed by Alejandro Hernández Cordero
parent af60a36853
commit 0613045684
2 changed files with 93 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

2
rcl/test/CMakeLists.txt
View file

@ -263,7 +263,7 @@ function(test_target_function)
SRCS rcl/test_wait.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${PROJECT_NAME} mimick
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
)

92
rcl/test/rcl/test_wait.cpp
View file

@ -30,6 +30,7 @@
#include "rcutils/logging_macros.h"
#include "./allocator_testing_utils.h"
#include "../mocking_utils/patch.hpp"
#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@ -646,6 +647,28 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_valid_argumen
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, &not_init_context, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_NOT_INIT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// nullptr failures
ret =
rcl_wait_set_init(nullptr, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_allocator_t zero_init_allocator =
static_cast<rcl_allocator_t>(rcutils_get_zero_initialized_allocator());
ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, zero_init_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -684,3 +707,72 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_get_allocator
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
// Test wait set init failure cases using mocks
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
// Mock rmw implementation to fail init
auto mock = mocking_utils::patch_and_return(
"lib:rcl", rmw_create_wait_set, nullptr);
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
}
// Test wait set fini failure cases using mocks
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_fini) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
{
// Mock rmw implementation to fail fini
auto mock = mocking_utils::inject_on_return(
"lib:rcl", rmw_destroy_wait_set, RMW_RET_ERROR);
EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, rcl_wait_set_fini(&wait_set));
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
}
}
// Test proper error handling with a fault injection test
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_test_maybe_init_fail) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = RCL_RET_OK;
rcl_allocator_t alloc = rcl_get_default_allocator();
RCUTILS_FAULT_INJECTION_TEST(
{
// Test init in the case where guard_conditions_size + timers_size = 0
// (used for guard condition size)
ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 1, 1, 0, context_ptr, alloc);
if (RCL_RET_OK == ret) {
ret = rcl_wait_set_fini(&wait_set);
if (ret != RCL_RET_OK) {
rcl_reset_error();
}
} else {
EXPECT_TRUE(RCL_RET_WAIT_SET_INVALID == ret || RCL_RET_BAD_ALLOC == ret);
rcl_reset_error();
}
});
RCUTILS_FAULT_INJECTION_TEST(
{
// Test init wait_set using at least one of each of the possible elements that receives
// (subs, guard conditions, timers, clients, services, events)
ret = rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 1, context_ptr, alloc);
if (RCL_RET_OK == ret) {
ret = rcl_wait_set_fini(&wait_set);
if (ret != RCL_RET_OK) {
rcl_reset_error();
}
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
} else {
EXPECT_TRUE(RCL_RET_WAIT_SET_INVALID == ret || RCL_RET_BAD_ALLOC == ret);
rcl_reset_error();
}
});
}