Increase rcl_lifecycle test coverage and add more safety checks (#649)
* Increase test coverage and add more safety checks Signed-off-by: Stephen Brawner <brawner@gmail.com> * More coverage Signed-off-by: Stephen Brawner <brawner@gmail.com> * Concatenating error messages Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com> * PR Fixup Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com> * Forgot a Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com> * PR Fixup Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com> * Moving var to top Signed-off-by: Stephen Brawner <stephenbrawner@verbsurgical.com> Co-authored-by: Stephen Brawner <stephenbrawner@verbsurgical.com>
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commit
7146919c3f
7 changed files with 591 additions and 19 deletions
427
rcl_lifecycle/test/test_rcl_lifecycle.cpp
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427
rcl_lifecycle/test/test_rcl_lifecycle.cpp
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// testing default transition sequence.
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// This test requires that the transitions are set
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// as depicted in design.ros2.org
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#include <gtest/gtest.h>
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#include "rcl_lifecycle/rcl_lifecycle.h"
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#include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "rcl/error_handling.h"
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#include "lifecycle_msgs/msg/transition_event.h"
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#include "lifecycle_msgs/srv/change_state.h"
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#include "lifecycle_msgs/srv/get_available_states.h"
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#include "lifecycle_msgs/srv/get_available_transitions.h"
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#include "lifecycle_msgs/srv/get_state.h"
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static void * bad_malloc(size_t, void *)
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{
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return nullptr;
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}
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static void * bad_realloc(void *, size_t, void *)
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{
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return nullptr;
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}
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TEST(TestRclLifecycle, lifecycle_state) {
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rcl_lifecycle_state_t state = rcl_lifecycle_get_zero_initialized_state();
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EXPECT_EQ(state.id, 0u);
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EXPECT_EQ(state.label, nullptr);
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rcl_allocator_t allocator = rcl_get_default_allocator();
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unsigned int expected_id = 42;
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const char expected_label[] = "label";
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rcl_ret_t ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_init(&state, expected_id, nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_init(nullptr, expected_id, &expected_label[0], &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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rcl_allocator_t bad_allocator = rcl_get_default_allocator();
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bad_allocator.allocate = bad_malloc;
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bad_allocator.reallocate = bad_realloc;
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ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &bad_allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &allocator);
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EXPECT_EQ(state.id, expected_id);
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EXPECT_STREQ(state.label, &expected_label[0]);
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ret = rcl_lifecycle_state_fini(&state, nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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// Already finalized
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ret = rcl_lifecycle_state_fini(nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_lifecycle_state_fini(&state, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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}
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TEST(TestRclLifecycle, lifecycle_transition) {
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rcl_lifecycle_transition_t transition = rcl_lifecycle_get_zero_initialized_transition();
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EXPECT_EQ(transition.id, 0u);
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EXPECT_EQ(transition.label, nullptr);
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EXPECT_EQ(transition.start, nullptr);
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EXPECT_EQ(transition.goal, nullptr);
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rcl_allocator_t allocator = rcl_get_default_allocator();
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// These need to be allocated on heap so rcl_lifecycle_transition_fini doesn't free a stack
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// allocated variable
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rcl_lifecycle_state_t * start = reinterpret_cast<rcl_lifecycle_state_t *>(
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allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state));
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EXPECT_NE(start, nullptr);
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rcl_lifecycle_state_t * end = reinterpret_cast<rcl_lifecycle_state_t *>(
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allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state));
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EXPECT_NE(end, nullptr);
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const char start_label[] = "start";
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const char end_label[] = "end";
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*start = rcl_lifecycle_get_zero_initialized_state();
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*end = rcl_lifecycle_get_zero_initialized_state();
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rcl_ret_t ret = rcl_lifecycle_state_init(start, 0u, &start_label[0], &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_lifecycle_state_init(end, 1u, &end_label[0], &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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unsigned int expected_id = 42;
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const char expected_label[] = "label";
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ret = rcl_lifecycle_transition_init(
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nullptr, expected_id, nullptr, nullptr, nullptr, nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_transition_init(
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&transition, expected_id, nullptr, nullptr, nullptr, nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_transition_init(
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nullptr, expected_id, nullptr, nullptr, nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_transition_init(
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&transition, expected_id, nullptr, nullptr, nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_transition_init(
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&transition, expected_id, &expected_label[0], nullptr, nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_transition_init(
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&transition, expected_id, &expected_label[0], start, nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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rcl_allocator_t bad_allocator = rcl_get_default_allocator();
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bad_allocator.allocate = bad_malloc;
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bad_allocator.reallocate = bad_realloc;
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ret = rcl_lifecycle_transition_init(
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&transition, expected_id, &expected_label[0], start, end, &bad_allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_transition_init(
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&transition, expected_id, &expected_label[0], start, end, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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EXPECT_EQ(transition.id, expected_id);
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EXPECT_STREQ(transition.label, &expected_label[0]);
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ret = rcl_lifecycle_transition_fini(nullptr, nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_transition_fini(&transition, nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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// Already finalized
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ret = rcl_lifecycle_transition_fini(nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_lifecycle_transition_fini(&transition, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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}
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TEST(TestRclLifecycle, state_machine) {
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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EXPECT_EQ(state_machine.current_state, nullptr);
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EXPECT_EQ(state_machine.transition_map.states, nullptr);
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EXPECT_EQ(state_machine.transition_map.transitions, nullptr);
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EXPECT_EQ(state_machine.transition_map.states_size, 0u);
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EXPECT_EQ(state_machine.transition_map.transitions_size, 0u);
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rcl_node_t node = rcl_get_zero_initialized_node();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_context_t context = rcl_get_zero_initialized_context();
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rcl_node_options_t options = rcl_node_get_default_options();
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
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rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_init(0, nullptr, &init_options, &context);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
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ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
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});
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ret = rcl_node_init(&node, "node", "namespace", &context, &options);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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const rosidl_message_type_support_t * pn =
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ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
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const rosidl_service_type_support_t * cs =
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ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, ChangeState);
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const rosidl_service_type_support_t * gs =
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ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetState);
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const rosidl_service_type_support_t * gas =
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ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableStates);
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const rosidl_service_type_support_t * gat =
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ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);
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const rosidl_service_type_support_t * gtg =
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ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);
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// Check various arguments are null
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ret = rcl_lifecycle_state_machine_init(
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nullptr, &node, pn, cs, gs, gas, gat, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, nullptr, pn, cs, gs, gas, gat, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, nullptr, cs, gs, gas, gat, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, pn, nullptr, gs, gas, gat, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, pn, cs, nullptr, gas, gat, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, pn, cs, gs, nullptr, gat, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, pn, cs, gs, gas, nullptr, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, pn, cs, gs, gas, gat, nullptr, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, pn, cs, gs, gas, gat, gtg, false, nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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// Everything should be good
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ret = rcl_lifecycle_state_machine_init(
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&state_machine, &node, pn, cs, gs, gas, gat, gtg, false, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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// Transition_map is not initialized
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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void * temp_function = state_machine.com_interface.srv_change_state.impl;
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state_machine.com_interface.srv_change_state.impl = nullptr;
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// get_state service is valid, but not change_state service
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcutils_reset_error();
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state_machine.com_interface.srv_change_state.impl =
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reinterpret_cast<rcl_service_impl_t *>(temp_function);
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// Allocate some memory and initialize states and transitions so is_initialized will pass
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state_machine.transition_map.states_size = 1u;
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state_machine.transition_map.states = reinterpret_cast<rcl_lifecycle_state_t *>(
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allocator.allocate(
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state_machine.transition_map.states_size * sizeof(rcl_lifecycle_state_t),
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allocator.state));
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ASSERT_NE(state_machine.transition_map.states, nullptr);
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state_machine.transition_map.states[0] = rcl_lifecycle_get_zero_initialized_state();
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state_machine.transition_map.transitions_size = 1u;
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state_machine.transition_map.transitions =
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reinterpret_cast<rcl_lifecycle_transition_t *>(allocator.allocate(
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state_machine.transition_map.transitions_size * sizeof(rcl_lifecycle_transition_t),
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allocator.state));
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ASSERT_NE(state_machine.transition_map.transitions, nullptr);
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state_machine.transition_map.transitions[0] = rcl_lifecycle_get_zero_initialized_transition();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_OK);
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// allocator is nullptr
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ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, nullptr);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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rcutils_reset_error();
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ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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// Node is null
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ret = rcl_lifecycle_state_machine_fini(&state_machine, nullptr, &allocator);
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EXPECT_EQ(ret, RCL_RET_ERROR);
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std::cout << "state_machine: " << __LINE__ << std::endl;
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}
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TEST(TestRclLifecycle, state_transitions) {
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rcl_lifecycle_state_machine_t state_machine =
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rcl_lifecycle_get_zero_initialized_state_machine();
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EXPECT_EQ(state_machine.current_state, nullptr);
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EXPECT_EQ(state_machine.transition_map.states, nullptr);
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EXPECT_EQ(state_machine.transition_map.transitions, nullptr);
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EXPECT_EQ(state_machine.transition_map.states_size, 0u);
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EXPECT_EQ(state_machine.transition_map.transitions_size, 0u);
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rcl_node_t node = rcl_get_zero_initialized_node();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_context_t context = rcl_get_zero_initialized_context();
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rcl_node_options_t options = rcl_node_get_default_options();
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
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rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_init(0, nullptr, &init_options, &context);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
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ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
|
||||
});
|
||||
|
||||
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
const rosidl_message_type_support_t * pn =
|
||||
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
|
||||
const rosidl_service_type_support_t * cs =
|
||||
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, ChangeState);
|
||||
const rosidl_service_type_support_t * gs =
|
||||
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetState);
|
||||
const rosidl_service_type_support_t * gas =
|
||||
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableStates);
|
||||
const rosidl_service_type_support_t * gat =
|
||||
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);
|
||||
const rosidl_service_type_support_t * gtg =
|
||||
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);
|
||||
|
||||
ret = rcl_lifecycle_state_machine_init(
|
||||
&state_machine, &node, pn, cs, gs, gas, gat, gtg, true, &allocator);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
ret = rcl_lifecycle_state_machine_is_initialized(&state_machine);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
const rcl_lifecycle_transition_t * transition = rcl_lifecycle_get_transition_by_id(nullptr, 0);
|
||||
EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str;
|
||||
rcutils_reset_error();
|
||||
|
||||
transition = rcl_lifecycle_get_transition_by_id(
|
||||
state_machine.current_state, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE);
|
||||
EXPECT_EQ(transition->id, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE);
|
||||
|
||||
// Update this test with a new invalid number if 42 ever becomes a valid state id
|
||||
transition = rcl_lifecycle_get_transition_by_id(state_machine.current_state, 42);
|
||||
EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str;
|
||||
rcutils_reset_error();
|
||||
|
||||
transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "configure");
|
||||
EXPECT_STREQ(transition->label, "configure");
|
||||
|
||||
transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "NOT A LABEL");
|
||||
EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str;
|
||||
rcutils_reset_error();
|
||||
|
||||
ret = rcl_lifecycle_trigger_transition_by_id(nullptr, 0, false);
|
||||
EXPECT_EQ(ret, RCL_RET_ERROR);
|
||||
rcutils_reset_error();
|
||||
|
||||
ret = rcl_lifecycle_trigger_transition_by_id(
|
||||
&state_machine, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE, false);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
ret = rcl_lifecycle_trigger_transition_by_label(nullptr, "transition_success", true);
|
||||
EXPECT_EQ(ret, RCL_RET_ERROR);
|
||||
rcutils_reset_error();
|
||||
|
||||
ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
// If using the public interface to register transitions, this case should already be checked.
|
||||
state_machine.current_state->valid_transitions[0].goal = nullptr;
|
||||
ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true);
|
||||
EXPECT_EQ(ret, RCL_RET_ERROR);
|
||||
rcutils_reset_error();
|
||||
|
||||
rcl_print_state_machine(&state_machine);
|
||||
EXPECT_FALSE(rcutils_error_is_set());
|
||||
|
||||
ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue