Add fault-injection unit tests (coverage part 2/3) (#766)

* Fault injection tests for rcl_yaml

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Pause fault injection

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* variant_copy

Signed-off-by: Stephen Brawner <brawner@gmail.com>

rcl_yaml_param_parser/CMakeLists.txt

@@ -72,6 +72,7 @@ if(BUILD_TESTING)
       "rcutils"
       "osrf_testing_tools_cpp"
     )
+    target_compile_definitions(test_namespace PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
     target_link_libraries(test_namespace ${PROJECT_NAME})
   endif()
 
@@ -119,6 +120,7 @@ if(BUILD_TESTING)
       "osrf_testing_tools_cpp"
     )
     target_link_libraries(test_parser ${PROJECT_NAME})
+    target_compile_definitions(test_parser PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 
   add_performance_test(benchmark_parse_yaml test/benchmark/benchmark_parse_yaml.cpp

rcl_yaml_param_parser/test/test_namespace.cpp

@@ -104,3 +104,57 @@ TEST(TestNamespace, replace_ns) {
   EXPECT_STREQ(expected_param_ns, ns_tracker.parameter_ns);
   EXPECT_EQ(3u, ns_tracker.num_parameter_ns);
 }
+
+TEST(TestNamespace, replace_ns_maybe_fail) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  namespace_tracker_t ns_tracker;
+  ns_tracker.node_ns = rcutils_strdup("node1/node2", allocator);
+  ASSERT_STREQ("node1/node2", ns_tracker.node_ns);
+  ns_tracker.parameter_ns = rcutils_strdup("param1.param2", allocator);
+  ASSERT_STREQ("param1.param2", ns_tracker.parameter_ns);
+  ns_tracker.num_node_ns = 2;
+  ns_tracker.num_parameter_ns = 2;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(ns_tracker.node_ns, allocator.state);
+    allocator.deallocate(ns_tracker.parameter_ns, allocator.state);
+  });
+
+  char * expected_ns = rcutils_strdup("new_ns1/new_ns2/new_ns3", allocator);
+  ASSERT_STREQ("new_ns1/new_ns2/new_ns3", expected_ns);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(expected_ns, allocator.state);
+  });
+
+  char * expected_param_ns =
+    rcutils_strdup("new_param1.new_param2.new_param3", allocator);
+  ASSERT_STREQ("new_param1.new_param2.new_param3", expected_param_ns);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(expected_param_ns, allocator.state);
+  });
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcutils_ret_t ret =
+    replace_ns(&ns_tracker, expected_ns, 3, NS_TYPE_NODE, allocator);
+    if (RCUTILS_RET_OK != ret) {
+      EXPECT_EQ(nullptr, ns_tracker.node_ns);
+      rcutils_reset_error();
+    } else {
+      EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
+      EXPECT_STREQ(expected_ns, ns_tracker.node_ns);
+      EXPECT_EQ(3u, ns_tracker.num_node_ns);
+    }
+
+    ret = replace_ns(&ns_tracker, expected_param_ns, 3, NS_TYPE_PARAM, allocator);
+    if (RCUTILS_RET_OK != ret) {
+      EXPECT_EQ(nullptr, ns_tracker.parameter_ns);
+      rcutils_reset_error();
+    } else {
+      EXPECT_STREQ(expected_param_ns, ns_tracker.parameter_ns);
+      EXPECT_EQ(3u, ns_tracker.num_parameter_ns);
+    }
+  });
+}

rcl_yaml_param_parser/test/test_parser.cpp

@@ -12,11 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <string>
+#include <vector>
+
 #include "gtest/gtest.h"
+
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl_yaml_param_parser/parser.h"
 #include "rcutils/error_handling.h"
 #include "rcutils/filesystem.h"
+#include "rcutils/testing/fault_injection.h"
 #include "./time_bomb_allocator_testing_utils.h"
 
 TEST(RclYamlParamParser, node_init_fini) {
@@ -308,46 +313,51 @@ TEST(RclYamlParamParser, test_parse_file_with_bad_allocator) {
   {
     allocator.deallocate(test_path, allocator.state);
   });
-  char * path = rcutils_join_path(test_path, "correct_config.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
 
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  const std::vector<std::string> filenames = {
-  EXPECT_TRUE(rcl_parse_yaml_file(path, params_hdl));
+    "correct_config.yaml",
-  rcl_yaml_node_struct_fini(params_hdl);
+    "empty_string.yaml",
-  params_hdl = NULL;
+    "indented_name_space.yaml",
+    "max_num_params.yaml",
+    "multi_ns_correct.yaml",
+    "no_alias_support.yaml",
+    "no_value1.yaml",
+    "overlay.yaml",
+    "params_with_no_node.yaml",
+    "root_ns.yaml",
+    "seq_map1.yaml",
+    "seq_map2.yaml",
+    "string_array_with_quoted_number.yaml"
+  };
 
-  // Check sporadic failing malloc calls
+  for (auto & filename : filenames) {
-  for (int i = 0; i < 100; ++i) {
+    SCOPED_TRACE(filename);
-    params_hdl = rcl_yaml_node_struct_init(get_time_bomb_allocator());
+    char * path = rcutils_join_path(test_path, filename.c_str(), allocator);
-    ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+    ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      allocator.deallocate(path, allocator.state);
+    });
+    ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
 
-    set_time_bomb_allocator_malloc_count(params_hdl->allocator, i);
+    RCUTILS_FAULT_INJECTION_TEST(
-    bool res = rcl_parse_yaml_file(path, params_hdl);
+    {
-    // Not verifying res is true or false here, because eventually it will come back with an ok
+      rcutils_allocator_t allocator = rcutils_get_default_allocator();
-    // result. We're just trying to make sure that bad allocations are properly handled
+      rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-    (void)res;
+      if (NULL == params_hdl) {
-    rcl_yaml_node_struct_fini(params_hdl);
+        continue;
-    params_hdl = NULL;
+      }
-  }
 
-  // Check sporadic failing calloc calls
+      bool res = rcl_parse_yaml_file(path, params_hdl);
-  for (int i = 0; i < 100; ++i) {
+      // Not verifying res is true or false here, because eventually it will come back with an ok
-    params_hdl = rcl_yaml_node_struct_init(get_time_bomb_allocator());
+      // result. We're just trying to make sure that bad allocations are properly handled
-    ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+      (void)res;
 
-    set_time_bomb_allocator_calloc_count(params_hdl->allocator, i);
+      // If `rcutils_string_array_fini` fails, there will be a small memory leak here.
-
+      // However, it's necessary for coverage
-    bool res = rcl_parse_yaml_file(path, params_hdl);
+      rcl_yaml_node_struct_fini(params_hdl);
-    // Not verifying res is true or false here, because eventually it will come back with an ok
+      params_hdl = NULL;
-    // result. We're just trying to make sure that bad allocations are properly handled
+    });
-    (void)res;
-    rcl_yaml_node_struct_fini(params_hdl);
-    params_hdl = NULL;
   }
 }
 

rcl_yaml_param_parser/test/test_yaml_variant.cpp

@@ -182,3 +182,35 @@ TEST(TestYamlVariant, copy_string_array_values) {
       src_variant.string_array_value->data[i], dest_variant.string_array_value->data[i]);
   }
 }
+
+TEST(TestYamlVariant, copy_string_array_maybe_fail) {
+  rcl_variant_t src_variant{};
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  constexpr size_t size = 3u;
+  src_variant.string_array_value =
+    static_cast<rcutils_string_array_t *>(
+    allocator.allocate(sizeof(rcutils_string_array_t), allocator.state));
+  ASSERT_NE(nullptr, src_variant.string_array_value);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_variant_fini(&src_variant, allocator);
+  });
+  *src_variant.string_array_value = rcutils_get_zero_initialized_string_array();
+  ASSERT_EQ(
+    RCUTILS_RET_OK, rcutils_string_array_init(src_variant.string_array_value, size, &allocator));
+  src_variant.string_array_value->size = size;
+  src_variant.string_array_value->data[0] = rcutils_strdup("string1", allocator);
+  src_variant.string_array_value->data[1] = rcutils_strdup("string2", allocator);
+  src_variant.string_array_value->data[2] = rcutils_strdup("string3", allocator);
+  for (size_t i = 0; i < size; ++i) {
+    ASSERT_NE(nullptr, src_variant.string_array_value->data[i]);
+  }
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcl_variant_t dest_variant{};
+    rcutils_ret_t ret = rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator);
+    (void)ret;
+    rcl_yaml_variant_fini(&dest_variant, allocator);
+  });
+}