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Add fault injection macros and unit tests to rcl_lifecycle (#731)

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* Add fault injection macros and unit tests to rcl_lifecycle

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

* Address feedback

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 12:59:19 -07:00 • committed by Alejandro Hernández Cordero
parent b62b83b5cd
commit dd62d09042
5 changed files with 96 additions and 6 deletions
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17
rcl_lifecycle/test/test_default_state_machine.cpp
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@ -28,6 +28,7 @@
#include "rcl/rcl.h"
#include "rcutils/logging_macros.h"
#include "rcutils/testing/fault_injection.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/default_state_machine.h"
@ -833,3 +834,19 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
}
TEST_F(TestDefaultStateMachine, init_fini_maybe_fail) {
rcl_lifecycle_state_machine_t sm = rcl_lifecycle_get_zero_initialized_state_machine();
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_ret_t ret = rcl_lifecycle_init_default_state_machine(&sm, this->allocator);
if (RCL_RET_OK == ret) {
ret = rcl_lifecycle_state_machine_fini(&sm, this->node_ptr, this->allocator);
if (RCL_RET_OK != ret) {
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&sm, this->node_ptr, this->allocator));
}
}
});
}