niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Add fault injection macros and unit tests to rcl_action (#730)

Browse source 
* Add fault injection macros and unit tests to rcl_action

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

* Addressing  feedback

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

* PR Fixup

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

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-08-31 12:16:35 -07:00 • committed by Alejandro Hernández Cordero
parent 76a706db9b
commit a270de6825
7 changed files with 305 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

8
rcl_action/CMakeLists.txt
View file

@ -81,6 +81,7 @@ if(BUILD_TESTING)
# Gtests
ament_add_gtest(test_action_client
test/rcl_action/test_action_client.cpp
TIMEOUT 360
)
if(TARGET test_action_client)
target_include_directories(test_action_client PUBLIC
@ -95,6 +96,7 @@ if(BUILD_TESTING)
"rcl"
"test_msgs"
)
target_compile_definitions(test_action_client PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
endif()
# get the rmw implementations ahead of time
@ -107,7 +109,7 @@ if(BUILD_TESTING)
function(custom_test_c target)
ament_add_gtest(
"${target}${target_suffix}" ${ARGN}
TIMEOUT 60
TIMEOUT 180
ENV
RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
RMW_IMPLEMENTATION=${rmw_implementation}
@ -115,6 +117,8 @@ if(BUILD_TESTING)
if(TARGET ${target}${target_suffix})
target_compile_definitions(${target}${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
target_compile_definitions(${target}${target_suffix}
PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
target_include_directories(${target}${target_suffix} PUBLIC
include
)
@ -143,6 +147,7 @@ if(BUILD_TESTING)
ament_add_gtest(test_action_server
test/rcl_action/test_action_server.cpp
TIMEOUT 120
)
if(TARGET test_action_server)
target_include_directories(test_action_server PUBLIC
@ -157,6 +162,7 @@ if(BUILD_TESTING)
"rcl"
"test_msgs"
)
target_compile_definitions(test_action_server PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
endif()
ament_add_gtest(test_goal_handle
test/rcl_action/test_goal_handle.cpp

10
rcl_action/src/rcl_action/goal_handle.c
View file

@ -42,6 +42,10 @@ rcl_action_goal_handle_init(
const rcl_action_goal_info_t * goal_info,
rcl_allocator_t allocator)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ALREADY_INIT);
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
RCL_CHECK_ARGUMENT_FOR_NULL(goal_handle, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(goal_info, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
@ -103,6 +107,9 @@ rcl_action_goal_handle_get_info(
const rcl_action_goal_handle_t * goal_handle,
rcl_action_goal_info_t * goal_info)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ACTION_GOAL_HANDLE_INVALID);
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_goal_handle_is_valid(goal_handle)) {
return RCL_RET_ACTION_GOAL_HANDLE_INVALID; // error message is set
}
@ -117,6 +124,9 @@ rcl_action_goal_handle_get_status(
const rcl_action_goal_handle_t * goal_handle,
rcl_action_goal_state_t * status)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ACTION_GOAL_HANDLE_INVALID);
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
if (!rcl_action_goal_handle_is_valid(goal_handle)) {
return RCL_RET_ACTION_GOAL_HANDLE_INVALID; // error message is set
}

5
rcl_action/src/rcl_action/types.c
View file

@ -19,6 +19,7 @@ extern "C"
#include "rcl_action/types.h"
#include "rcl/error_handling.h"
#include "rcutils/macros.h"
rcl_action_goal_info_t
rcl_action_get_zero_initialized_goal_info(void)
@ -96,6 +97,10 @@ rcl_action_cancel_response_init(
const size_t num_goals_canceling,
const rcl_allocator_t allocator)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ALREADY_INIT);
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(cancel_response, RCL_RET_INVALID_ARGUMENT);
// Size of array to allocate must be greater than 0

53
rcl_action/test/rcl_action/test_action_client.cpp
View file

@ -14,11 +14,14 @@
#include <gtest/gtest.h>
#include <string>
#include "rcl_action/action_client.h"
#include "rcl_action/action_client_impl.h"
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcutils/testing/fault_injection.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "test_msgs/action/fibonacci.h"
@ -80,7 +83,6 @@ protected:
rcl_node_t node;
};
TEST_F(TestActionClientBaseFixture, test_action_client_init_fini) {
rcl_ret_t ret = RCL_RET_OK;
rcl_action_client_t invalid_action_client =
@ -349,3 +351,52 @@ TEST_F(TestActionClientFixture, test_action_client_get_options) {
options = rcl_action_client_get_options(&this->action_client);
ASSERT_NE(options, nullptr) << rcl_get_error_string().str;
}
TEST_F(TestActionClientBaseFixture, test_action_client_init_fini_maybe_fail)
{
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
rcl_ret_t ret =
rcl_node_init(&node, "test_action_client_node", "", &this->context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret);
const rosidl_action_type_support_t * action_typesupport =
ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
RCUTILS_FAULT_INJECTION_TEST(
{
int64_t count = rcutils_fault_injection_get_count();
std::string action_name = std::string("test_action_client_name_") + std::to_string(count);
ret = rcl_action_client_init(
&action_client,
&node,
action_typesupport,
action_name.c_str(),
&action_client_options);
if (RCL_RET_OK == ret) {
ret = rcl_action_client_fini(&action_client, &node);
if (RCL_RET_OK != ret) {
// Not always guaranteed be set, but reset anyway
rcl_reset_error();
}
} else {
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
}
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
});
}
TEST_F(TestActionClientFixture, test_action_server_is_available_maybe_fail)
{
RCUTILS_FAULT_INJECTION_TEST(
{
bool is_available = false;
rcl_ret_t ret = rcl_action_server_is_available(
&this->node, &this->action_client, &is_available);
(void)ret;
rcl_reset_error();
});
}

68
rcl_action/test/rcl_action/test_action_communication.cpp
View file

@ -1106,3 +1106,71 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_stat
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
}
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm_maybe_fail)
{
test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
test_msgs__action__Fibonacci_FeedbackMessage__init(&outgoing_feedback);
test_msgs__action__Fibonacci_FeedbackMessage__init(&incoming_feedback);
// Initialize feedback
ASSERT_TRUE(
rosidl_runtime_c__int32__Sequence__init(
&outgoing_feedback.feedback.sequence, 3));
outgoing_feedback.feedback.sequence.data[0] = 0;
outgoing_feedback.feedback.sequence.data[1] = 1;
outgoing_feedback.feedback.sequence.data[2] = 2;
init_test_uuid0(outgoing_feedback.goal_id.uuid);
RCUTILS_FAULT_INJECTION_TEST(
{
// Publish feedback with valid arguments
rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback);
if (RCL_RET_OK != ret) {
// This isn't set in all cases, but reset anyway.
rcl_reset_error();
continue;
}
ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
if (RCL_RET_OK != ret) {
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
continue;
}
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
if (RCL_RET_OK != ret) {
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
continue;
}
ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
&this->action_client,
&this->is_feedback_ready,
&this->is_status_ready,
&this->is_goal_response_ready,
&this->is_cancel_response_ready,
&this->is_result_response_ready);
if (RCL_RET_OK != ret) {
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
continue;
}
// Take feedback with valid arguments
ret = rcl_action_take_feedback(&this->action_client, &incoming_feedback);
if (RCL_RET_OK != ret) {
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
continue;
}
test_msgs__action__Fibonacci_FeedbackMessage__fini(&incoming_feedback);
test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
});
}

83
rcl_action/test/rcl_action/test_action_server.cpp
View file

@ -965,3 +965,86 @@ TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_by_time_
EXPECT_TRUE(uuidcmp(goal_info_out->goal_id.uuid, cancel_request.goal_info.goal_id.uuid));
EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
}
TEST_F(TestActionServer, action_server_init_fini_maybe_fail)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context));
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&node, "test_action_server_node", "", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&node_options));
});
rcl_clock_t clock;
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
const rosidl_action_type_support_t * ts = ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
const rcl_action_server_options_t options = rcl_action_server_get_default_options();
constexpr char action_name[] = "test_action_server_name";
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
rcl_ret_t ret = rcl_action_server_init(
&action_server, &node, &clock, ts, action_name, &options);
if (RCL_RET_OK == ret) {
ret = rcl_action_server_fini(&action_server, &node);
}
});
}
TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_maybe_fail)
{
// Request to cancel all goals
rcl_action_cancel_request_t cancel_request = rcl_action_get_zero_initialized_cancel_request();
cancel_request.goal_info.stamp.sec = 0;
cancel_request.goal_info.stamp.nanosec = 0u;
rcl_action_cancel_response_t cancel_response = rcl_action_get_zero_initialized_cancel_response();
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_ret_t ret = rcl_action_process_cancel_request(
&this->action_server, &cancel_request, &cancel_response);
// Regardless of return, fini should be able to succeed
(void)ret;
EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
});
}
TEST_F(TestActionServerCancelPolicy, test_action_expire_goals_maybe_fail)
{
const size_t capacity = 10u;
rcl_action_goal_info_t expired_goals[10u];
size_t num_expired = 42u;
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_ret_t ret = rcl_action_expire_goals(
&this->action_server, expired_goals, capacity, &num_expired);
if (RCL_RET_OK != ret) {
rcl_reset_error();
}
});
}

80
rcl_action/test/rcl_action/test_graph.cpp
View file

@ -24,6 +24,7 @@
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcutils/testing/fault_injection.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
@ -593,3 +594,82 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_b
ret = rcl_names_and_types_fini(&nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
TEST_F(TestActionGraphMultiNodeFixture, get_names_and_types_maybe_fail)
{
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
rcl_ret_t ret = rcl_action_get_names_and_types(&this->node, &this->allocator, &nat);
if (RCL_RET_OK == ret) {
ret = rcl_names_and_types_fini(&nat);
if (RCL_RET_OK != ret) {
EXPECT_TRUE(rcutils_error_is_set());
rcutils_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(&nat));
}
}
});
}
TEST_F(TestActionGraphMultiNodeFixture, action_client_init_maybe_fail)
{
RCUTILS_FAULT_INJECTION_TEST(
{
const rosidl_action_type_support_t * action_typesupport = ROSIDL_GET_ACTION_TYPE_SUPPORT(
test_msgs, Fibonacci);
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
rcl_ret_t ret = rcl_action_client_init(
&action_client,
&this->remote_node,
action_typesupport,
this->action_name,
&action_client_options);
if (RCL_RET_OK == ret) {
ret = rcl_action_client_fini(&action_client, &this->remote_node);
if (RCL_RET_OK != ret) {
// This isn't always set, but just in case reset anyway
rcutils_reset_error();
}
}
});
}
TEST_F(TestActionGraphMultiNodeFixture, rcl_get_client_names_and_types_by_node_maybe_fail)
{
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
rcl_ret_t ret = rcl_action_get_client_names_and_types_by_node(
&this->node, &this->allocator, this->test_graph_node_name, "", &nat);
if (RCL_RET_OK == ret) {
ret = rcl_names_and_types_fini(&nat);
if (ret != RCL_RET_OK) {
EXPECT_TRUE(rcutils_error_is_set());
rcutils_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(&nat));
}
}
});
}
TEST_F(TestActionGraphMultiNodeFixture, rcl_get_server_names_and_types_by_node_maybe_fail)
{
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
rcl_ret_t ret = rcl_action_get_server_names_and_types_by_node(
&this->node, &this->allocator, this->test_graph_node_name, "", &nat);
if (RCL_RET_OK == ret) {
ret = rcl_names_and_types_fini(&nat);
if (ret != RCL_RET_OK) {
EXPECT_TRUE(rcutils_error_is_set());
rcutils_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(&nat));
}
}
});
}