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Increase rcl_lifecycle test coverage and add more safety checks (#649)

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* 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>
This commit is contained in:
brawner 2020-05-22 14:44:11 -07:00 • committed by GitHub
parent 30e0536a1d
commit 7146919c3f
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7 changed files with 591 additions and 19 deletions
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72
rcl_lifecycle/test/test_transition_map.cpp
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@ -35,11 +35,22 @@ protected:
}
};
static void * bad_malloc(size_t, void *)
{
return nullptr;
}
static void * bad_realloc(void *, size_t, void *)
{
return nullptr;
}
TEST_F(TestTransitionMap, zero_initialized) {
rcl_lifecycle_transition_map_t transition_map =
rcl_lifecycle_get_zero_initialized_transition_map();
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_transition_map_is_initialized(&transition_map));
rcutils_reset_error();
rcl_allocator_t allocator = rcl_get_default_allocator();
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_fini(&transition_map, &allocator));
@ -57,11 +68,25 @@ TEST_F(TestTransitionMap, initialized) {
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_is_initialized(&transition_map));
ret = rcl_lifecycle_register_state(&transition_map, state0, &allocator);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error();
rcl_lifecycle_state_t state1 = {"my_state_1", 1, NULL, 0};
ret = rcl_lifecycle_register_state(&transition_map, state1, &allocator);
rcl_lifecycle_state_t unregistered = {"my_state_2", 2, NULL, 0};
rcl_allocator_t bad_allocator = rcl_get_default_allocator();
bad_allocator.allocate = bad_malloc;
bad_allocator.reallocate = bad_realloc;
rcl_lifecycle_state_t * original_ptr = transition_map.states;
size_t original_size = transition_map.states_size;
ret = rcl_lifecycle_register_state(&transition_map, unregistered, &bad_allocator);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error();
EXPECT_EQ(transition_map.states, original_ptr);
EXPECT_EQ(original_size, transition_map.states_size);
rcl_lifecycle_state_t * start_state =
rcl_lifecycle_get_state(&transition_map, state0.id);
rcl_lifecycle_state_t * goal_state =
@ -71,25 +96,70 @@ TEST_F(TestTransitionMap, initialized) {
rcl_lifecycle_transition_t transition01 = {"from0to1", 0,
start_state, goal_state};
original_size = transition_map.transitions_size;
ret = rcl_lifecycle_register_transition(
&transition_map, transition01, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(1u, transition_map.transitions_size);
rcl_lifecycle_transition_t transition10 = {"from1to0", 1,
goal_state, start_state};
original_size = transition_map.transitions_size;
ret = rcl_lifecycle_register_transition(
&transition_map, transition10, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(2u, transition_map.transitions_size);
rcl_lifecycle_transition_t * old_transitions_ptr = transition_map.transitions;
original_size = transition_map.transitions_size;
rcl_lifecycle_transition_t transition_bad1 = {"from0tobad", 2,
start_state, &unregistered};
ret = rcl_lifecycle_register_transition(
&transition_map, transition_bad1, &allocator);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error();
EXPECT_EQ(old_transitions_ptr, transition_map.transitions);
EXPECT_EQ(original_size, transition_map.transitions_size);
old_transitions_ptr = transition_map.transitions;
original_size = transition_map.transitions_size;
rcl_lifecycle_transition_t transition_bad2 = {"frombadto1", 3,
&unregistered, goal_state};
ret = rcl_lifecycle_register_transition(
&transition_map, transition_bad2, &allocator);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error();
EXPECT_EQ(old_transitions_ptr, transition_map.transitions);
EXPECT_EQ(original_size, transition_map.transitions_size);
old_transitions_ptr = transition_map.transitions;
original_size = transition_map.transitions_size;
rcl_lifecycle_transition_t transition00 = {"from0to0", 4,
start_state, start_state};
ret = rcl_lifecycle_register_transition(
&transition_map, transition00, &bad_allocator);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
rcutils_reset_error();
EXPECT_EQ(old_transitions_ptr, transition_map.transitions);
EXPECT_EQ(original_size, transition_map.transitions_size);
const rcl_lifecycle_transition_t * trans =
rcl_lifecycle_get_transition_by_id(start_state, 0);
EXPECT_EQ(0u, trans->id);
trans = rcl_lifecycle_get_transitions(&transition_map, 0);
EXPECT_EQ(0u, trans->id);
trans = rcl_lifecycle_get_transition_by_label(start_state, "from0to1");
EXPECT_EQ(0u, trans->id);
trans = rcl_lifecycle_get_transition_by_id(goal_state, 1);
EXPECT_EQ(1u, trans->id);
trans = rcl_lifecycle_get_transitions(&transition_map, 1);
EXPECT_EQ(1u, trans->id);
trans = rcl_lifecycle_get_transition_by_label(goal_state, "from1to0");
EXPECT_EQ(1u, trans->id);
// Check nonexistent transition
trans = rcl_lifecycle_get_transitions(&transition_map, 2);
EXPECT_EQ(nullptr, trans);
rcutils_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_fini(&transition_map, &allocator));
}