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Add more test cases for graph API + fix bug (#404)

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* Add more test cases for graph API
* Guard against invalid allocator in rcl_get_service_names_and_types.
* Increase timeout for Connext tests
* Refactor tests
  * Isolate unknown node name tests
  * Add invalid node name tests
* Add zero allocator tests
* Fix a segfault when passing a zero allocator to rcl_names_and_types_init.
* Add TODOs for buggy tests

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-04-10 11:30:09 -07:00 • committed by GitHub
parent c3ea0df317
commit d810f12e94
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 318 additions and 8 deletions
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10
rcl/src/rcl/graph.c
View file

@ -42,7 +42,7 @@ rcl_get_publisher_names_and_types_by_node(
if (!rcl_node_is_valid(node)) { if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; return RCL_RET_NODE_INVALID;
} }
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
@ -80,7 +80,7 @@ rcl_get_subscriber_names_and_types_by_node(
if (!rcl_node_is_valid(node)) { if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; return RCL_RET_NODE_INVALID;
} }
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
@ -117,7 +117,7 @@ rcl_get_service_names_and_types_by_node(
if (!rcl_node_is_valid(node)) { if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; return RCL_RET_NODE_INVALID;
} }
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
@ -152,7 +152,7 @@ rcl_get_topic_names_and_types(
if (!rcl_node_is_valid(node)) { if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set return RCL_RET_NODE_INVALID; // error already set
} }
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret; rmw_ret_t rmw_ret;
rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types); rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types);
@ -178,6 +178,7 @@ rcl_get_service_names_and_types(
if (!rcl_node_is_valid(node)) { if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set return RCL_RET_NODE_INVALID; // error already set
} }
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret; rmw_ret_t rmw_ret;
rmw_ret = rmw_names_and_types_check_zero(service_names_and_types); rmw_ret = rmw_names_and_types_check_zero(service_names_and_types);
@ -200,6 +201,7 @@ rcl_names_and_types_init(
rcl_allocator_t * allocator) rcl_allocator_t * allocator)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(names_and_types, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(names_and_types, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR(allocator, return RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret = rmw_names_and_types_init(names_and_types, size, allocator); rmw_ret_t rmw_ret = rmw_names_and_types_init(names_and_types, size, allocator);
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret); return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
} }

2
rcl/test/CMakeLists.txt
View file

@ -100,7 +100,7 @@ function(test_target_function)
# TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests # TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
elseif(rmw_implementation STREQUAL "rmw_connext_cpp") elseif(rmw_implementation STREQUAL "rmw_connext_cpp")
message(STATUS "Increasing test_graph${target_suffix} test timeout.") message(STATUS "Increasing test_graph${target_suffix} test timeout.")
set(AMENT_GTEST_ARGS TIMEOUT 90) set(AMENT_GTEST_ARGS TIMEOUT 180)
endif() endif()
rcl_add_custom_gtest(test_graph${target_suffix} rcl_add_custom_gtest(test_graph${target_suffix}
SRCS rcl/test_graph.cpp SRCS rcl/test_graph.cpp

314
rcl/test/rcl/test_graph.cpp
View file

@ -131,7 +131,7 @@ public:
/* Test the rcl_get_topic_names_and_types and rcl_destroy_topic_names_and_types functions. /* Test the rcl_get_topic_names_and_types and rcl_destroy_topic_names_and_types functions.
* *
* This does not test content of the rcl_topic_names_and_types_t structure. * This does not test content of the rcl_names_and_types_t structure.
*/ */
TEST_F( TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
@ -139,6 +139,8 @@ TEST_F(
) { ) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_names_and_types_t tnat {}; rcl_names_and_types_t tnat {};
rcl_node_t zero_node = rcl_get_zero_initialized_node(); rcl_node_t zero_node = rcl_get_zero_initialized_node();
// invalid node // invalid node
@ -155,6 +157,9 @@ TEST_F(
ret = rcl_get_topic_names_and_types(this->node_ptr, nullptr, false, &tnat); ret = rcl_get_topic_names_and_types(this->node_ptr, nullptr, false, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error(); rcl_reset_error();
ret = rcl_get_topic_names_and_types(this->node_ptr, &zero_allocator, false, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid topic_names_and_types // invalid topic_names_and_types
ret = rcl_get_topic_names_and_types(this->node_ptr, &allocator, false, nullptr); ret = rcl_get_topic_names_and_types(this->node_ptr, &allocator, false, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
@ -170,6 +175,52 @@ TEST_F(
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} }
/* Test the rcl_get_service_names_and_types function.
*
* This does not test content of the rcl_names_and_types_t structure.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_service_names_and_types
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_names_and_types_t tnat {};
rcl_node_t zero_node = rcl_get_zero_initialized_node();
// invalid node
ret = rcl_get_service_names_and_types(nullptr, &allocator, &tnat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types(&zero_node, &allocator, &tnat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types(this->old_node_ptr, &allocator, &tnat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_service_names_and_types(this->node_ptr, nullptr, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types(this->node_ptr, &zero_allocator, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid service_names_and_types
ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid argument to rcl_destroy_service_names_and_types
ret = rcl_names_and_types_fini(nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// valid calls
ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, &tnat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_names_and_types_fini(&tnat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
/* Test the rcl_names_and_types_init function. /* Test the rcl_names_and_types_init function.
*/ */
TEST_F( TEST_F(
@ -178,6 +229,8 @@ TEST_F(
) { ) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types(); rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid names and types // invalid names and types
ret = rcl_names_and_types_init(nullptr, 10, &allocator); ret = rcl_names_and_types_init(nullptr, 10, &allocator);
@ -187,6 +240,9 @@ TEST_F(
ret = rcl_names_and_types_init(&nat, 10, nullptr); ret = rcl_names_and_types_init(&nat, 10, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error(); rcl_reset_error();
ret = rcl_names_and_types_init(&nat, 10, &zero_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// zero size // zero size
ret = rcl_names_and_types_init(&nat, 0, &allocator); ret = rcl_names_and_types_init(&nat, 0, &allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -205,9 +261,261 @@ TEST_F(
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} }
/* Test the rcl_get_publisher_names_and_types_by_node function.
*
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_publisher_names_and_types_by_node
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * unknown_node_name = "/test_rcl_get_publisher_names_and_types_by_node";
// const char * unknown_node_ns = "/test/namespace";
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid node
ret = rcl_get_publisher_names_and_types_by_node(
nullptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
&zero_node, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
this->old_node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, nullptr, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &zero_allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, nullptr, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, nullptr, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// test valid strings with invalid node names
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, "", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, "_InvalidNodeName", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// TODO(jacobperron): This succeeds, but should fail due to invalid namespace
// ret = rcl_get_publisher_names_and_types_by_node(
// this->node_ptr, &allocator, false, this->test_graph_node_name, "_!invalidNs", &nat);
// EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
// rcl_reset_error();
// invalid names and types
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node name
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node namespace
// TODO(jacobperron): This succeeds, but should fail due to invalid namespace
// ret = rcl_get_publisher_names_and_types_by_node(
// this->node_ptr, &allocator, false, this->test_graph_node_name, unknown_node_ns, &nat);
// EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
// rcl_reset_error();
// valid call
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
/* Test the rcl_get_subscriber_names_and_types_by_node function.
*
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriber_names_and_types_by_node
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * unknown_node_name = "/test_rcl_get_subscriber_names_and_types_by_node";
// const char * unknown_node_ns = "/test/namespace";
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid node
ret = rcl_get_subscriber_names_and_types_by_node(
nullptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
&zero_node, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
this->old_node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, nullptr, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &zero_allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, nullptr, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, nullptr, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// test valid strings with invalid node names
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, "", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, "_InvalidNodeName", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// TODO(jacobperron): This succeeds, but should fail due to invalid namespace
// ret = rcl_get_subscriber_names_and_types_by_node(
// this->node_ptr, &allocator, false, this->test_graph_node_name, "_!invalidNs", &nat);
// EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
// rcl_reset_error();
// invalid names and types
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node name
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node namespace
// TODO(jacobperron): This succeeds, but should fail due to invalid namespace
// ret = rcl_get_subscriber_names_and_types_by_node(
// this->node_ptr, &allocator, false, this->test_graph_node_name, unknown_node_ns, &nat);
// EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
// rcl_reset_error();
// valid call
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
/* Test the rcl_get_service_names_and_types_by_node function.
*
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_service_names_and_types_by_node
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * unknown_node_name = "/test_rcl_get_service_names_and_types_by_node";
// const char * unknown_node_ns = "/test/namespace";
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid node
ret = rcl_get_service_names_and_types_by_node(
nullptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
&zero_node, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
this->old_node_ptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, nullptr, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &zero_allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, nullptr, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, nullptr, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// test valid strings with invalid node names
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, "", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, "_InvalidNodeName", "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// TODO(jacobperron): This succeeds, but should fail due to invalid namespace
// ret = rcl_get_service_names_and_types_by_node(
// this->node_ptr, &allocator, false, this->test_graph_node_name, "_!invalidNs", &nat);
// EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
// rcl_reset_error();
// invalid names and types
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node name
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, unknown_node_name, "", &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node namespace
// TODO(jacobperron): This succeeds, but should fail due to invalid namespace
// ret = rcl_get_service_names_and_types_by_node(
// this->node_ptr, &allocator, this->test_graph_node_name, unknown_node_ns, &nat);
// EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
// rcl_reset_error();
// valid call
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
/* Test the rcl_count_publishers function. /* Test the rcl_count_publishers function.
* *
* This does not test content the response. * This does not test content of the response.
*/ */
TEST_F( TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
@ -244,7 +552,7 @@ TEST_F(
/* Test the rcl_count_subscribers function. /* Test the rcl_count_subscribers function.
* *
* This does not test content the response. * This does not test content of the response.
*/ */
TEST_F( TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),