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

Improve wait sets test coverage. (#683)

Browse source 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-06-18 14:37:07 -03:00 • committed by Alejandro Hernández Cordero
parent a4aa379d35
commit b254630a6a
1 changed files with 68 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

68
rcl/test/rcl/test_wait.cpp
View file

@ -29,6 +29,8 @@
#include "rcutils/logging_macros.h" #include "rcutils/logging_macros.h"
#include "./allocator_testing_utils.h"
#ifdef RMW_IMPLEMENTATION #ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) # define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
@ -36,7 +38,11 @@
# define CLASSNAME(NAME, SUFFIX) NAME # define CLASSNAME(NAME, SUFFIX) NAME
#endif #endif
#ifndef _WIN32
#define TOLERANCE RCL_MS_TO_NS(6) #define TOLERANCE RCL_MS_TO_NS(6)
#else
#define TOLERANCE RCL_MS_TO_NS(15)
#endif
class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Test class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{ {
@ -86,6 +92,25 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_is_valid) {
EXPECT_FALSE(rcl_wait_set_is_valid(&wait_set)); EXPECT_FALSE(rcl_wait_set_is_valid(&wait_set));
} }
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_failed_resize) {
// Initialize a wait set with a subscription and then resize it to zero.
rcl_allocator_t allocator = get_failing_allocator();
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
set_failing_allocator_is_failing(allocator, false);
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
set_failing_allocator_is_failing(allocator, true);
ret = rcl_wait_set_resize(&wait_set, 0, 1, 0, 0, 0, 0);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
rcl_reset_error();
set_failing_allocator_is_failing(allocator, false);
ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) { TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
// Initialize a wait set with a subscription and then resize it to zero. // Initialize a wait set with a subscription and then resize it to zero.
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
@ -257,6 +282,49 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
EXPECT_LE(diff, TOLERANCE); EXPECT_LE(diff, TOLERANCE);
} }
// Test rcl_wait with a timeout value and an overrun timer
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_overrun_timer) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, 0, nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Time spent during wait should be negligible, definitely less than the given timeout
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
std::chrono::steady_clock::time_point after_sc = std::chrono::steady_clock::now();
// We don't expect a timeout here (since the guard condition had already been triggered)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, RCL_MS_TO_NS(50));
}
// Check that a canceled timer doesn't wake up rcl_wait // Check that a canceled timer doesn't wake up rcl_wait
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) { TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();