Improve subscription coverage (#681)
* Add bad argument tests for subscription.c * Add missing rcl_reset_error() * Add test failing cyclone * Disable test not working for rmw_cyclone_cpp * Add simple bad alloc test * Add tests enclave_name * Revert "Add tests enclave_name" * Move init/fini tests * Add auxiliar testing class * Reformat into smaller tests * Add checks ini/fini rmw messages * Add issue report for disabled test * Add assert for msg init * Add bad_allocator test Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
This commit is contained in:
Jorge Perez
Alejandro Hernández Cordero
parent
c52a938b9e
commit
91dad10c1e
2 changed files with 233 additions and 0 deletions
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@ -23,6 +23,8 @@
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#include "rcl/error_handling.h"
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#include "./allocator_testing_utils.h"
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using namespace std::string_literals;
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TEST(test_expand_topic_name, normal) {
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@ -121,6 +123,16 @@ TEST(test_expand_topic_name, invalid_arguments) {
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rcl_reset_error();
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}
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// pass failing allocator
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{
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rcl_allocator_t bad_allocator = get_failing_allocator();
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EXPECT_EQ(
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RCL_RET_BAD_ALLOC,
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rcl_expand_topic_name("/absolute", node, ns, &subs, bad_allocator, &expanded_topic));
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EXPECT_STREQ(NULL, expanded_topic);
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rcl_reset_error();
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}
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ret = rcutils_string_map_fini(&subs);
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ASSERT_EQ(RCL_RET_OK, ret);
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}
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@ -29,6 +29,8 @@
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#include "rcl/error_handling.h"
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#include "wait_for_entity_helpers.hpp"
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#include "./allocator_testing_utils.h"
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#ifdef RMW_IMPLEMENTATION
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# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
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# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
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@ -78,6 +80,38 @@ public:
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}
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};
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class CLASSNAME (TestSubscriptionFixtureInit, RMW_IMPLEMENTATION)
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: public CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION)
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{
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public:
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const rosidl_message_type_support_t * ts =
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ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
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const char * topic = "/chatter";
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rcl_subscription_options_t subscription_options;
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rcl_subscription_t subscription;
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rcl_subscription_t subscription_zero_init;
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rcl_ret_t ret;
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rcutils_allocator_t allocator;
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void SetUp() override
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{
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CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::SetUp();
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allocator = rcutils_get_default_allocator();
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subscription_options = rcl_subscription_get_default_options();
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subscription = rcl_get_zero_initialized_subscription();
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subscription_zero_init = rcl_get_zero_initialized_subscription();
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ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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void TearDown() override
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{
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rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::TearDown();
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}
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};
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/* Test subscription init, fini and is_valid functions
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*/
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TEST_F(
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@ -109,6 +143,56 @@ TEST_F(
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rcl_reset_error();
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}
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// Bad arguments for init and fini
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TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_bad_init) {
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const rosidl_message_type_support_t * ts =
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ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
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const char * topic = "/chatter";
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rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
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rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
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rcl_node_t invalid_node = rcl_get_zero_initialized_node();
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ASSERT_FALSE(rcl_node_is_valid_except_context(&invalid_node));
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EXPECT_EQ(nullptr, rcl_node_get_rmw_handle(&invalid_node));
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EXPECT_EQ(
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RCL_RET_NODE_INVALID,
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rcl_subscription_init(&subscription, nullptr, ts, topic, &subscription_options));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_NODE_INVALID,
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rcl_subscription_init(&subscription, &invalid_node, ts, topic, &subscription_options));
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rcl_reset_error();
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rcl_ret_t ret = rcl_subscription_init(
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&subscription, this->node_ptr, ts, "spaced name", &subscription_options);
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EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_subscription_init(
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&subscription, this->node_ptr, ts, "sub{ros_not_match}", &subscription_options);
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EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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rcl_subscription_options_t bad_subscription_options = rcl_subscription_get_default_options();
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bad_subscription_options.allocator = get_failing_allocator();
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ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &bad_subscription_options);
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ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ASSERT_TRUE(rcl_subscription_is_valid(&subscription));
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ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
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EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, nullptr));
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rcl_reset_error();
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EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, &invalid_node));
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rcl_reset_error();
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ret = rcl_subscription_fini(&subscription, this->node_ptr);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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/* Basic nominal test of a subscription
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*/
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TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
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@ -528,3 +612,140 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options)
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ASSERT_EQ(NULL, rcl_subscription_get_options(nullptr));
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}
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/* bad take()
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*/
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TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take) {
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test_msgs__msg__BasicTypes msg;
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rmw_message_info_t message_info = rmw_get_zero_initialized_message_info();
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ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&msg));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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test_msgs__msg__BasicTypes__fini(&msg);
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});
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EXPECT_EQ(RCL_RET_SUBSCRIPTION_INVALID, rcl_take(nullptr, &msg, &message_info, nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_INVALID, rcl_take(&subscription_zero_init, &msg, &message_info, nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_TAKE_FAILED, rcl_take(&subscription, &msg, &message_info, nullptr));
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rcl_reset_error();
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}
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/* bad take_serialized
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*/
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TEST_F(
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CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION),
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test_subscription_bad_take_serialized) {
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rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
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size_t initial_capacity_ser = 0u;
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ASSERT_EQ(
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RCL_RET_OK, rmw_serialized_message_init(
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&serialized_msg, initial_capacity_ser, &allocator)) << rcl_get_error_string().str;
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_INVALID,
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rcl_take_serialized_message(nullptr, &serialized_msg, nullptr, nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_INVALID,
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rcl_take_serialized_message(&subscription_zero_init, &serialized_msg, nullptr, nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_TAKE_FAILED,
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rcl_take_serialized_message(&subscription, &serialized_msg, nullptr, nullptr));
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rcl_reset_error();
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}
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/* Bad arguments take_sequence
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*/
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TEST_F(
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CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take_sequence)
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{
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size_t seq_size = 3u;
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rmw_message_sequence_t messages;
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ASSERT_EQ(RMW_RET_OK, rmw_message_sequence_init(&messages, seq_size, &allocator));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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EXPECT_EQ(RMW_RET_OK, rmw_message_sequence_fini(&messages));
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});
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rmw_message_info_sequence_t message_infos_short;
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ASSERT_EQ(
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RMW_RET_OK, rmw_message_info_sequence_init(&message_infos_short, seq_size - 1u, &allocator));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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EXPECT_EQ(RMW_RET_OK, rmw_message_info_sequence_fini(&message_infos_short));
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});
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rmw_message_info_sequence_t message_infos;
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ASSERT_EQ(
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RMW_RET_OK, rmw_message_info_sequence_init(&message_infos, seq_size, &allocator));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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EXPECT_EQ(RMW_RET_OK, rmw_message_info_sequence_fini(&message_infos));
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});
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_INVALID,
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rcl_take_sequence(nullptr, seq_size, &messages, &message_infos, nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_INVALID,
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rcl_take_sequence(&subscription_zero_init, seq_size, &messages, &message_infos, nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_INVALID_ARGUMENT,
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rcl_take_sequence(&subscription, seq_size + 1, &messages, &message_infos, nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_INVALID_ARGUMENT,
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rcl_take_sequence(&subscription, seq_size, &messages, &message_infos_short, nullptr));
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rcl_reset_error();
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// This test fails for rmw_cyclonedds_cpp function rmw_take_sequence
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// Tracked here: https://github.com/ros2/rmw_cyclonedds/issues/193
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/*
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_TAKE_FAILED,
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rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, nullptr));
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rcl_reset_error();
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*/
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}
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/* Using bad arguments subscription methods
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*/
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TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_argument) {
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size_t pub_count = 0;
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_INVALID, rcl_subscription_get_publisher_count(nullptr, &pub_count));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(nullptr));
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rcl_reset_error();
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EXPECT_FALSE(rcl_subscription_can_loan_messages(nullptr));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(nullptr));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_topic_name(nullptr));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_options(nullptr));
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rcl_reset_error();
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EXPECT_EQ(
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RCL_RET_SUBSCRIPTION_INVALID,
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rcl_subscription_get_publisher_count(&subscription_zero_init, &pub_count));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(&subscription_zero_init));
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rcl_reset_error();
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EXPECT_FALSE(rcl_subscription_can_loan_messages(&subscription_zero_init));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(&subscription_zero_init));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_topic_name(&subscription_zero_init));
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rcl_reset_error();
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EXPECT_EQ(NULL, rcl_subscription_get_options(&subscription_zero_init));
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rcl_reset_error();
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}
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