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_lifecycle (#731)

Browse source 
* 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
Download patch file Download diff file Expand all files Collapse all files

65
rcl_lifecycle/test/test_rcl_lifecycle.cpp
View file

@ -19,9 +19,12 @@
#include <gtest/gtest.h>
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
#include "rcutils/testing/fault_injection.h"
#include "lifecycle_msgs/msg/transition_event.h"
#include "lifecycle_msgs/srv/change_state.h"
#include "lifecycle_msgs/srv/get_available_states.h"
@ -204,9 +207,9 @@ TEST(TestRclLifecycle, state_machine) {
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});
const rosidl_message_type_support_t * pn =
@ -364,9 +367,9 @@ TEST(TestRclLifecycle, state_transitions) {
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});
const rosidl_message_type_support_t * pn =
@ -436,3 +439,53 @@ TEST(TestRclLifecycle, state_transitions) {
ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
}
TEST(TestRclLifecycle, init_fini_maybe_fail) {
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_context_t context = rcl_get_zero_initialized_context();
rcl_node_options_t options = rcl_node_get_default_options();
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << 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));
});
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
const rosidl_service_type_support_t * cs =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, ChangeState);
const rosidl_service_type_support_t * gs =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetState);
const rosidl_service_type_support_t * gas =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableStates);
const rosidl_service_type_support_t * gat =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);
const rosidl_service_type_support_t * gtg =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);
RCUTILS_FAULT_INJECTION_TEST(
{
// Init segfaults if this is not zero initialized
rcl_lifecycle_state_machine_t sm = rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_state_machine_init(
&sm, &node, pn, cs, gs, gas, gat, gtg, true, &allocator);
if (RCL_RET_OK == ret) {
ret = rcl_lifecycle_state_machine_fini(&sm, &node, &allocator);
if (RCL_RET_OK != ret) {
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_state_machine_fini(&sm, &node, &allocator));
}
}
});
}