Complete subscription API test coverage (#734)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

rcl/package.xml

@@ -25,14 +25,14 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>mimick_vendor</test_depend>
-  <test_depend>rcpputils</test_depend>
-  <test_depend>rmw</test_depend>
-  <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>mimick_vendor</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
+  <test_depend>rcpputils</test_depend>
+  <test_depend>rmw</test_depend>
+  <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <group_depend>rcl_logging_packages</group_depend>

rcl/test/CMakeLists.txt

@@ -1,6 +1,7 @@
 find_package(ament_cmake_gtest REQUIRED)
 find_package(launch_testing_ament_cmake REQUIRED)
 
+find_package(mimick_vendor REQUIRED)
 find_package(test_msgs REQUIRED)
 
 find_package(mimick_vendor REQUIRED)
@@ -224,7 +225,7 @@ function(test_target_function)
     SRCS rcl/test_subscription.cpp rcl/wait_for_entity_helpers.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" "test_msgs"
   )
   if(rmw_implementation STREQUAL "rmw_fastrtps_cpp" OR

rcl/test/mocking_utils/patch.hpp

@@ -219,11 +219,8 @@ public:
    * \return a mocking_utils::Patch instance.
    */
   explicit Patch(const std::string & target, std::function<ReturnT(ArgTs...)> proxy)
-  : proxy_(proxy)
+  : target_(target), proxy_(proxy)
   {
-    auto MMK_MANGLE(mock_type, create) =
-      PatchTraits<ID, ReturnT(ArgTs...)>::MMK_MANGLE(mock_type, create);
-    mock_ = mmk_mock(target.c_str(), mock_type);
   }
 
   // Copy construction and assignment are disabled.
@@ -255,18 +252,14 @@ public:
   /// Inject a @p replacement for the patched function.
   Patch & then_call(std::function<ReturnT(ArgTs...)> replacement) &
   {
-    auto type_erased_trampoline =
+    replace_with(replacement);
-      reinterpret_cast<mmk_fn>(prepare_trampoline<ID>(replacement));
-    mmk_when(proxy_(any<ArgTs>()...), .then_call = type_erased_trampoline);
     return *this;
   }
 
   /// Inject a @p replacement for the patched function.
   Patch && then_call(std::function<ReturnT(ArgTs...)> replacement) &&
   {
-    auto type_erased_trampoline =
+    replace_with(replacement);
-      reinterpret_cast<mmk_fn>(prepare_trampoline<ID>(replacement));
-    mmk_when(proxy_(any<ArgTs>()...), .then_call = type_erased_trampoline);
     return std::move(*this);
   }
 
@@ -276,7 +269,21 @@ private:
   template<typename T>
   T any() {return mmk_any(T);}
 
-  mock_type mock_;
+  void replace_with(std::function<ReturnT(ArgTs...)> replacement)
+  {
+    if (mock_) {
+      throw std::logic_error("Cannot configure patch more than once");
+    }
+    auto type_erased_trampoline =
+      reinterpret_cast<mmk_fn>(prepare_trampoline<ID>(replacement));
+    auto MMK_MANGLE(mock_type, create) =
+      PatchTraits<ID, ReturnT(ArgTs...)>::MMK_MANGLE(mock_type, create);
+    mock_ = mmk_mock(target_.c_str(), mock_type);
+    mmk_when(proxy_(any<ArgTs>()...), .then_call = type_erased_trampoline);
+  }
+
+  mock_type mock_{nullptr};
+  std::string target_;
   std::function<ReturnT(ArgTs...)> proxy_;
 };
 
@@ -332,15 +339,29 @@ auto make_patch(const std::string & target, std::function<SignatureT> proxy)
 #define MOCKING_UTILS_PATCH_TARGET(scope, function) \
   (std::string(RCUTILS_STRINGIFY(function)) + "@" + (scope))
 
-/// Patch a `function` with a used-provided `replacement` in a given `scope`.
+/// Prepare a mocking_utils::Patch for patching a `function` in a given `scope`
-#define patch(scope, function, replacement) \
+/// but defer applying any changes.
+#define prepare_patch(scope, function) \
   make_patch<__COUNTER__, decltype(function)>( \
     MOCKING_UTILS_PATCH_TARGET(scope, function), MOCKING_UTILS_PATCH_PROXY(function) \
-  ).then_call(replacement)
+  )
 
-/// Patch a function with a function that only returns a value
+/// Patch a `function` with a used-provided `replacement` in a given `scope`.
-#define patch_and_return(scope, function, return_value) \
+#define patch(scope, function, replacement) \
-  patch(scope, function, [&](auto && ...) {return return_value;})
+  prepare_patch(scope, function).then_call(replacement)
+
+/// Patch a `function` to always yield a given `return_code` in a given `scope`.
+#define patch_and_return(scope, function, return_code) \
+  patch(scope, function, [&](auto && ...) {return return_code;})
+
+/// Patch a `function` to execute normally but always yield a given `return_code`
+/// in a given `scope`.
+#define inject_on_return(scope, function, return_code) \
+  patch( \
+    scope, function, ([&, base = function](auto && ... __args) { \
+      static_cast<void>(base(std::forward<decltype(__args)>(__args)...)); \
+      return return_code; \
+    }))
 
 }  // namespace mocking_utils
 

rcl/test/rcl/test_subscription.cpp

@@ -20,6 +20,8 @@
 
 #include "rcl/subscription.h"
 #include "rcl/rcl.h"
+#include "rmw/rmw.h"
+#include "rmw/validate_full_topic_name.h"
 
 #include "test_msgs/msg/basic_types.h"
 #include "test_msgs/msg/strings.h"
@@ -30,6 +32,7 @@
 #include "wait_for_entity_helpers.hpp"
 
 #include "./allocator_testing_utils.h"
+#include "../mocking_utils/patch.hpp"
 
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@@ -61,7 +64,7 @@ public:
     }
     this->node_ptr = new rcl_node_t;
     *this->node_ptr = rcl_get_zero_initialized_node();
-    const char * name = "test_subscription_node";
+    constexpr char name[] = "test_subscription_node";
     rcl_node_options_t node_options = rcl_node_get_default_options();
     ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -122,8 +125,8 @@ TEST_F(
 
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
-  const char * topic = "chatter";
+  constexpr char topic[] = "chatter";
-  const char * expected_topic = "/chatter";
+  constexpr char expected_topic[] = "/chatter";
 
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
   rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
@@ -143,22 +146,33 @@ TEST_F(
   rcl_reset_error();
 }
 
+// Define dummy comparison operators for rcutils_allocator_t type
+// to use with the Mimick mocking library
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
+
 // Bad arguments for init and fini
 TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_bad_init) {
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
-  const char * topic = "/chatter";
+  constexpr char topic[] = "/chatter";
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
   rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
   rcl_node_t invalid_node = rcl_get_zero_initialized_node();
 
   ASSERT_FALSE(rcl_node_is_valid_except_context(&invalid_node));
+  rcl_reset_error();
+
   EXPECT_EQ(nullptr, rcl_node_get_rmw_handle(&invalid_node));
+  rcl_reset_error();
 
   EXPECT_EQ(
     RCL_RET_NODE_INVALID,
     rcl_subscription_init(&subscription, nullptr, ts, topic, &subscription_options));
   rcl_reset_error();
+
   EXPECT_EQ(
     RCL_RET_NODE_INVALID,
     rcl_subscription_init(&subscription, &invalid_node, ts, topic, &subscription_options));
@@ -173,9 +187,57 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
-  rcl_subscription_options_t bad_subscription_options = rcl_subscription_get_default_options();
+  {
-  bad_subscription_options.allocator = get_failing_allocator();
+    rcutils_ret_t rcutils_string_map_init_returns = RCUTILS_RET_BAD_ALLOC;
-  ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &bad_subscription_options);
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rcutils_string_map_init, rcutils_string_map_init_returns);
+    ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+    EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
+    rcl_reset_error();
+
+    rcutils_string_map_init_returns = RCUTILS_RET_ERROR;
+    ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    rcl_reset_error();
+  }
+  {
+    auto mock =
+      mocking_utils::inject_on_return("lib:rcl", rcutils_string_map_fini, RCUTILS_RET_ERROR);
+    ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    rcl_reset_error();
+  }
+  {
+    rmw_ret_t rmw_validate_full_topic_name_returns = RMW_RET_OK;
+    auto mock = mocking_utils::patch(
+      "lib:rcl", rmw_validate_full_topic_name,
+      [&](auto, int * result, auto) {
+        *result = RMW_TOPIC_INVALID_TOO_LONG;
+        return rmw_validate_full_topic_name_returns;
+      });
+    ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+    EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret);
+    rcl_reset_error();
+
+    rmw_validate_full_topic_name_returns = RMW_RET_ERROR;
+    ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    rcl_reset_error();
+  }
+  {
+    auto mock =
+      mocking_utils::patch_and_return("lib:rcl", rmw_create_subscription, nullptr);
+    ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    rcl_reset_error();
+  }
+  {
+    auto mock =
+      mocking_utils::patch_and_return("lib:rcl", rmw_subscription_get_actual_qos, RMW_RET_ERROR);
+    ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    rcl_reset_error();
+  }
 
   ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -184,13 +246,20 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
+  EXPECT_EQ(RCL_RET_SUBSCRIPTION_INVALID, rcl_subscription_fini(nullptr, this->node_ptr));
+  rcl_reset_error();
   EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, nullptr));
   rcl_reset_error();
   EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, &invalid_node));
   rcl_reset_error();
 
-  ret = rcl_subscription_fini(&subscription, this->node_ptr);
+  auto mock =
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    mocking_utils::inject_on_return("lib:rcl", rmw_destroy_subscription, RMW_RET_ERROR);
+  EXPECT_EQ(RCL_RET_ERROR, rcl_subscription_fini(&subscription, this->node_ptr));
+  rcl_reset_error();
+
+  // Make sure finalization completed anyways.
+  ASSERT_EQ(NULL, subscription.impl);
 }
 
 /* Basic nominal test of a subscription
@@ -200,7 +269,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
-  const char * topic = "/chatter";
+  constexpr char topic[] = "/chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -273,7 +342,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   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 = "rcl_test_subscription_nominal_string_chatter";
+  constexpr char topic[] = "rcl_test_subscription_nominal_string_chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -292,7 +361,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
   ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 100));
-  const char * test_string = "testing";
+  constexpr char test_string[] = "testing";
   {
     test_msgs__msg__Strings msg;
     test_msgs__msg__Strings__init(&msg);
@@ -325,7 +394,7 @@ TEST_F(
   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 = "rcl_test_subscription_nominal_string_sequence_chatter";
+  constexpr char topic[] = "rcl_test_subscription_nominal_string_sequence_chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -344,7 +413,7 @@ TEST_F(
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
   ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 100));
-  const char * test_string = "testing";
+  constexpr char test_string[] = "testing";
   {
     test_msgs__msg__Strings msg;
     test_msgs__msg__Strings__init(&msg);
@@ -470,7 +539,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcutils_allocator_t allocator = rcl_get_default_allocator();
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
-  const char * topic = "/chatterSer";
+  constexpr char topic[] = "/chatterSer";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -485,7 +554,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   ASSERT_EQ(
     RCL_RET_OK, rmw_serialized_message_init(
       &serialized_msg, initial_capacity_ser, &allocator)) << rcl_get_error_string().str;
-  const char * test_string = "testing";
+  constexpr char test_string[] = "testing";
   test_msgs__msg__Strings msg;
   test_msgs__msg__Strings__init(&msg);
   ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
@@ -535,7 +604,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   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 = "rcl_loan";
+  constexpr char topic[] = "rcl_loan";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -565,36 +634,190 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   }
   ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
   {
-    test_msgs__msg__Strings msg;
+    auto patch_take =
-    test_msgs__msg__Strings * msg_loaned;
+      mocking_utils::prepare_patch("lib:rcl", rmw_take_loaned_message_with_info);
-    test_msgs__msg__Strings__init(&msg);
+    auto patch_return =
-    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+      mocking_utils::prepare_patch("lib:rcl", rmw_return_loaned_message_from_subscription);
-    {
-      test_msgs__msg__Strings__fini(&msg);
-    });
 
-    // Only if rmw supports the functionality
+    if (!rcl_subscription_can_loan_messages(&subscription)) {
-    if (rcl_subscription_can_loan_messages(&subscription)) {
+      // If rcl (and ultimately rmw) does not support message loaning,
+      // mock it so that a unit test can still be constructed.
+      patch_take.then_call(
+        [](auto sub, void ** loaned_message, auto taken, auto msg_info, auto allocation) {
+          auto msg = new(std::nothrow) test_msgs__msg__Strings{};
+          if (!msg) {
+            return RMW_RET_BAD_ALLOC;
+          }
+          test_msgs__msg__Strings__init(msg);
+          *loaned_message = static_cast<void *>(msg);
+          rmw_ret_t ret = rmw_take_with_info(sub, *loaned_message, taken, msg_info, allocation);
+          if (RMW_RET_OK != ret) {
+            delete msg;
+          }
+          return ret;
+        });
+      patch_return.then_call(
+        [](auto, void * loaned_message) {
+          auto msg = reinterpret_cast<test_msgs__msg__Strings *>(loaned_message);
+          test_msgs__msg__Strings__fini(msg);
+          delete msg;
+
+          return RMW_RET_OK;
+        });
+    }
+
+    test_msgs__msg__Strings * msg_loaned = nullptr;
     ret = rcl_take_loaned_message(
       &subscription, reinterpret_cast<void **>(&msg_loaned), nullptr, nullptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-      ASSERT_EQ(
+    EXPECT_EQ(
       std::string(test_string),
       std::string(msg_loaned->string_value.data, msg_loaned->string_value.size));
-    } else {
+    ret = rcl_return_loaned_message_from_subscription(&subscription, msg_loaned);
-      ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-      ASSERT_EQ(
-        std::string(test_string), std::string(msg.string_value.data, msg.string_value.size));
   }
+}
+
+/* Test for all failure modes in subscription take with loaned messages function.
+ */
+TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_take_loaned_message) {
+  constexpr char topic[] = "rcl_loan";
+  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
+  rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+
+  rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
+  rmw_ret_t ret = rcl_subscription_init(
+    &subscription, this->node_ptr, ts, topic,
+    &subscription_options);
+  ASSERT_EQ(RMW_RET_OK, ret) << rcl_get_error_string().str;
+
+  test_msgs__msg__Strings * loaned_message = nullptr;
+  void ** type_erased_loaned_message_pointer = reinterpret_cast<void **>(&loaned_message);
+  rmw_message_info_t * message_info = nullptr;  // is a valid argument
+  rmw_subscription_allocation_t * allocation = nullptr;  // is a valid argument
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID, rcl_take_loaned_message(
+      nullptr, type_erased_loaned_message_pointer, message_info, allocation));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_take_loaned_message(&subscription, nullptr, message_info, allocation));
+  rcl_reset_error();
+
+  test_msgs__msg__Strings dummy_message;
+  loaned_message = &dummy_message;
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT, rcl_take_loaned_message(
+      &subscription, type_erased_loaned_message_pointer, message_info, allocation));
+  rcl_reset_error();
+  loaned_message = nullptr;
+
+  {
+    rmw_ret_t rmw_take_loaned_message_with_info_returns = RMW_RET_OK;
+    auto mock = mocking_utils::patch(
+      "lib:rcl", rmw_take_loaned_message_with_info,
+      [&](auto, auto, bool * taken, auto && ...) {
+        *taken = false;
+        return rmw_take_loaned_message_with_info_returns;
+      });
+
+    EXPECT_EQ(
+      RCL_RET_SUBSCRIPTION_TAKE_FAILED, rcl_take_loaned_message(
+        &subscription, type_erased_loaned_message_pointer, message_info, allocation));
+    rcl_reset_error();
+
+    rmw_take_loaned_message_with_info_returns = RMW_RET_BAD_ALLOC;
+    EXPECT_EQ(
+      RCL_RET_BAD_ALLOC, rcl_take_loaned_message(
+        &subscription, type_erased_loaned_message_pointer, message_info, allocation));
+    rcl_reset_error();
+
+    rmw_take_loaned_message_with_info_returns = RMW_RET_UNSUPPORTED;
+    EXPECT_EQ(
+      RCL_RET_UNSUPPORTED, rcl_take_loaned_message(
+        &subscription, type_erased_loaned_message_pointer, message_info, allocation));
+    rcl_reset_error();
+
+    rmw_take_loaned_message_with_info_returns = RMW_RET_ERROR;
+    EXPECT_EQ(
+      RCL_RET_ERROR, rcl_take_loaned_message(
+        &subscription, type_erased_loaned_message_pointer, message_info, allocation));
+    rcl_reset_error();
   }
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_subscription_fini(&subscription, this->node_ptr)) << rcl_get_error_string().str;
+}
+
+/* Test for all failure modes in subscription return loaned messages function.
+ */
+TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_return_loaned_message) {
+  constexpr char topic[] = "rcl_loan";
+  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
+  rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+  rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
+  test_msgs__msg__Strings dummy_message;
+  test_msgs__msg__Strings__init(&dummy_message);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    test_msgs__msg__Strings__fini(&dummy_message);
+  });
+  void * loaned_message = &dummy_message;
+
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_return_loaned_message_from_subscription(nullptr, loaned_message));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_return_loaned_message_from_subscription(&subscription, loaned_message));
+  rcl_reset_error();
+
+  rmw_ret_t ret = rcl_subscription_init(
+    &subscription, this->node_ptr, ts, topic,
+    &subscription_options);
+  ASSERT_EQ(RMW_RET_OK, ret) << rcl_get_error_string().str;
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT, rcl_return_loaned_message_from_subscription(&subscription, nullptr));
+  rcl_reset_error();
+
+  {
+    rmw_ret_t rmw_return_loaned_message_from_subscription_returns = RMW_RET_OK;
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_return_loaned_message_from_subscription,
+      rmw_return_loaned_message_from_subscription_returns);
+
+    EXPECT_EQ(
+      RCL_RET_OK, rcl_return_loaned_message_from_subscription(&subscription, loaned_message)) <<
+      rcl_get_error_string().str;
+
+    rmw_return_loaned_message_from_subscription_returns = RMW_RET_UNSUPPORTED;
+    EXPECT_EQ(
+      RCL_RET_UNSUPPORTED, rcl_return_loaned_message_from_subscription(
+        &subscription,
+        loaned_message));
+    rcl_reset_error();
+
+    rmw_return_loaned_message_from_subscription_returns = RMW_RET_ERROR;
+    EXPECT_EQ(
+      RCL_RET_ERROR, rcl_return_loaned_message_from_subscription(&subscription, loaned_message));
+    rcl_reset_error();
+  }
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_subscription_fini(&subscription, this->node_ptr)) << rcl_get_error_string().str;
 }
 
 TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options) {
   rcl_ret_t ret;
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
-  const char * topic = "test_get_options";
+  constexpr char topic[] = "test_get_options";
   rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
   ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
@@ -629,9 +852,27 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
     RCL_RET_SUBSCRIPTION_INVALID, rcl_take(&subscription_zero_init, &msg, &message_info, nullptr));
   rcl_reset_error();
 
+  rmw_ret_t rmw_take_with_info_returns = RMW_RET_OK;
+  auto mock = mocking_utils::patch(
+    "lib:rcl", rmw_take_with_info,
+    [&](auto, auto, bool * taken, auto...) {
+      *taken = false;
+      return rmw_take_with_info_returns;
+    });
+
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_TAKE_FAILED, rcl_take(&subscription, &msg, &message_info, nullptr));
   rcl_reset_error();
+
+  rmw_take_with_info_returns = RMW_RET_BAD_ALLOC;
+  EXPECT_EQ(
+    RCL_RET_BAD_ALLOC, rcl_take(&subscription, &msg, &message_info, nullptr));
+  rcl_reset_error();
+
+  rmw_take_with_info_returns = RMW_RET_ERROR;
+  EXPECT_EQ(
+    RCL_RET_ERROR, rcl_take(&subscription, &msg, &message_info, nullptr));
+  rcl_reset_error();
 }
 
 /* bad take_serialized
@@ -640,23 +881,53 @@ TEST_F(
   CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION),
   test_subscription_bad_take_serialized) {
   rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
-  size_t initial_capacity_ser = 0u;
+  size_t initial_serialization_capacity = 0u;
   ASSERT_EQ(
     RCL_RET_OK, rmw_serialized_message_init(
-      &serialized_msg, initial_capacity_ser, &allocator)) << rcl_get_error_string().str;
+      &serialized_msg, initial_serialization_capacity, &allocator)) <<
+    rcl_get_error_string().str;
+
+  rmw_message_info_t * message_info = nullptr;  // is a valid argument
+  rmw_subscription_allocation_t * allocation = nullptr;  // is a valid argument
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_take_serialized_message(nullptr, &serialized_msg, message_info, allocation));
+  rcl_reset_error();
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_take_serialized_message(
+      &subscription_zero_init, &serialized_msg,
+      message_info, allocation));
+  rcl_reset_error();
 
   EXPECT_EQ(
-    RCL_RET_SUBSCRIPTION_INVALID,
+    RCL_RET_INVALID_ARGUMENT,
-    rcl_take_serialized_message(nullptr, &serialized_msg, nullptr, nullptr));
+    rcl_take_serialized_message(&subscription, nullptr, message_info, allocation));
-  rcl_reset_error();
-  EXPECT_EQ(
-    RCL_RET_SUBSCRIPTION_INVALID,
-    rcl_take_serialized_message(&subscription_zero_init, &serialized_msg, nullptr, nullptr));
   rcl_reset_error();
 
+  rmw_ret_t rmw_take_serialized_message_with_info_returns = RMW_RET_OK;
+  auto mock = mocking_utils::patch(
+    "lib:rcl", rmw_take_serialized_message_with_info,
+    [&](auto, auto, bool * taken, auto...) {
+      *taken = false;
+      return rmw_take_serialized_message_with_info_returns;
+    });
+
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_TAKE_FAILED,
-    rcl_take_serialized_message(&subscription, &serialized_msg, nullptr, nullptr));
+    rcl_take_serialized_message(&subscription, &serialized_msg, message_info, allocation));
+  rcl_reset_error();
+
+  rmw_take_serialized_message_with_info_returns = RMW_RET_BAD_ALLOC;
+  EXPECT_EQ(
+    RCL_RET_BAD_ALLOC,
+    rcl_take_serialized_message(&subscription, &serialized_msg, message_info, allocation));
+  rcl_reset_error();
+
+  rmw_take_serialized_message_with_info_returns = RMW_RET_ERROR;
+  EXPECT_EQ(
+    RCL_RET_ERROR,
+    rcl_take_serialized_message(&subscription, &serialized_msg, message_info, allocation));
   rcl_reset_error();
 }
 
@@ -686,43 +957,92 @@ TEST_F(
   {
     EXPECT_EQ(RMW_RET_OK, rmw_message_info_sequence_fini(&message_infos));
   });
+  rmw_subscription_allocation_t * allocation = nullptr;  // is a valid argument
 
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_INVALID,
-    rcl_take_sequence(nullptr, seq_size, &messages, &message_infos, nullptr));
+    rcl_take_sequence(nullptr, seq_size, &messages, &message_infos, allocation));
   rcl_reset_error();
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_INVALID,
-    rcl_take_sequence(&subscription_zero_init, seq_size, &messages, &message_infos, nullptr));
+    rcl_take_sequence(&subscription_zero_init, seq_size, &messages, &message_infos, allocation));
   rcl_reset_error();
 
   EXPECT_EQ(
     RCL_RET_INVALID_ARGUMENT,
-    rcl_take_sequence(&subscription, seq_size + 1, &messages, &message_infos, nullptr));
+    rcl_take_sequence(&subscription, seq_size + 1, &messages, &message_infos, allocation));
   rcl_reset_error();
   EXPECT_EQ(
     RCL_RET_INVALID_ARGUMENT,
-    rcl_take_sequence(&subscription, seq_size, &messages, &message_infos_short, nullptr));
+    rcl_take_sequence(&subscription, seq_size, &messages, &message_infos_short, allocation));
   rcl_reset_error();
 
-  // This test fails for rmw_cyclonedds_cpp function rmw_take_sequence
+  EXPECT_EQ(
-  // Tracked here: https://github.com/ros2/rmw_cyclonedds/issues/193
+    RCL_RET_INVALID_ARGUMENT,
-  /*
+    rcl_take_sequence(&subscription, seq_size, nullptr, &message_infos, allocation));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_take_sequence(&subscription, seq_size, &messages, nullptr, allocation));
+  rcl_reset_error();
+
+  rmw_ret_t rmw_take_sequence_returns = RMW_RET_OK;
+  auto mock = mocking_utils::patch(
+    "lib:rcl", rmw_take_sequence,
+    [&](auto, auto, auto, auto, size_t * taken, auto) {
+      *taken = 0u;
+      return rmw_take_sequence_returns;
+    });
+
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_TAKE_FAILED,
-    rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, nullptr));
+    rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, allocation));
   rcl_reset_error();
+
+  rmw_take_sequence_returns = RMW_RET_BAD_ALLOC;
+  EXPECT_EQ(
+    RCL_RET_BAD_ALLOC,
+    rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, allocation));
+  rcl_reset_error();
+
+  rmw_take_sequence_returns = RMW_RET_ERROR;
+  EXPECT_EQ(
+    RCL_RET_ERROR,
+    rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, allocation));
+  rcl_reset_error();
+}
+
+/* Test for all failure modes in subscription get_publisher_count function.
  */
+TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_get_publisher_count) {
+  size_t publisher_count = 0;
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_get_publisher_count(nullptr, &publisher_count));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_get_publisher_count(&subscription_zero_init, &publisher_count));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_get_publisher_count(&subscription, nullptr));
+  rcl_reset_error();
+
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rcl", rmw_subscription_count_matched_publishers, RMW_RET_ERROR);
+  EXPECT_EQ(
+    RCL_RET_ERROR,
+    rcl_subscription_get_publisher_count(&subscription, &publisher_count));
+  rcl_reset_error();
 }
 
 /* Using bad arguments subscription methods
  */
 TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_argument) {
-  size_t pub_count = 0;
-
-  EXPECT_EQ(
-    RCL_RET_SUBSCRIPTION_INVALID, rcl_subscription_get_publisher_count(nullptr, &pub_count));
-  rcl_reset_error();
   EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(nullptr));
   rcl_reset_error();
   EXPECT_FALSE(rcl_subscription_can_loan_messages(nullptr));
@@ -734,10 +1054,6 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
   EXPECT_EQ(NULL, rcl_subscription_get_options(nullptr));
   rcl_reset_error();
 
-  EXPECT_EQ(
-    RCL_RET_SUBSCRIPTION_INVALID,
-    rcl_subscription_get_publisher_count(&subscription_zero_init, &pub_count));
-  rcl_reset_error();
   EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(&subscription_zero_init));
   rcl_reset_error();
   EXPECT_FALSE(rcl_subscription_can_loan_messages(&subscription_zero_init));