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

* 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>

rcl_lifecycle/CMakeLists.txt

@@ -56,6 +56,10 @@ rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
 
+if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
+endif()
+
 install(TARGETS rcl_lifecycle EXPORT rcl_lifecycle
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -78,6 +82,9 @@ if(BUILD_TESTING)
       "osrf_testing_tools_cpp"
     )
     target_link_libraries(test_default_state_machine ${PROJECT_NAME})
+    target_compile_definitions(test_default_state_machine
+      PUBLIC RCUTILS_ENABLE_FAULT_INJECTION
+    )
   endif()
   ament_add_gtest(test_multiple_instances
     test/test_multiple_instances.cpp
@@ -98,6 +105,9 @@ if(BUILD_TESTING)
       "osrf_testing_tools_cpp"
     )
     target_link_libraries(test_rcl_lifecycle ${PROJECT_NAME})
+    target_compile_definitions(test_rcl_lifecycle
+      PUBLIC RCUTILS_ENABLE_FAULT_INJECTION
+    )
   endif()
   ament_add_gtest(test_transition_map
     test/test_transition_map.cpp

rcl_lifecycle/src/rcl_lifecycle.c

@@ -27,6 +27,7 @@ extern "C"
 #include "rcl/error_handling.h"
 
 #include "rcutils/logging_macros.h"
+#include "rcutils/macros.h"
 #include "rcutils/strdup.h"
 
 #include "rcl_lifecycle/default_state_machine.h"
@@ -80,6 +81,8 @@ rcl_lifecycle_state_fini(
   rcl_lifecycle_state_t * state,
   const rcl_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
+
   if (!allocator) {
     RCL_SET_ERROR_MSG("can't free state, no allocator given\n");
     return RCL_RET_ERROR;

rcl_lifecycle/src/transition_map.c

@@ -22,6 +22,7 @@ extern "C"
 #include <string.h>
 
 #include "rcl/error_handling.h"
+#include "rcl/macros.h"
 #include "rcutils/format_string.h"
 
 #include "rcl_lifecycle/transition_map.h"
@@ -53,6 +54,7 @@ rcl_lifecycle_transition_map_fini(
   rcl_lifecycle_transition_map_t * transition_map,
   const rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
   if (!allocator) {
     RCL_SET_ERROR_MSG("can't free transition map, no allocator given\n");
     return RCL_RET_ERROR;
@@ -85,6 +87,8 @@ rcl_lifecycle_register_state(
   rcl_lifecycle_state_t state,
   const rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
+
   if (rcl_lifecycle_get_state(transition_map, state.id) != NULL) {
     RCL_SET_ERROR_MSG_WITH_FORMAT_STRING("state %u is already registered\n", state.id);
     return RCL_RET_ERROR;
@@ -116,6 +120,9 @@ rcl_lifecycle_register_transition(
   rcl_lifecycle_transition_t transition,
   const rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
+
   RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
     allocator, "invalid allocator", return RCL_RET_ERROR)
 

rcl_lifecycle/test/test_default_state_machine.cpp

@@ -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));
+      }
+    }
+  });
+}

rcl_lifecycle/test/test_rcl_lifecycle.cpp

@@ -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;
+    EXPECT_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;
+    EXPECT_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_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;
+    EXPECT_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;
+    EXPECT_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_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));
+      }
+    }
+  });
+}