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Reformat rmw_impl_id_check to call a testable function (#725)

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* Reformat rmw_impl_id_check to call a testable function
* Reformat to expose the function in the public header
* Reformat style return result
* Expose macro names to be tested with the function checker
* Add test for failing cases of the function
* Set error variable and log in the main caller
* Use format string for logging
* Change name of checker function
* Reset rcl error to avoid overwrite

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
This commit is contained in:
Jorge Perez 2020-07-27 15:57:45 -03:00 • committed by Alejandro Hernández Cordero
parent c8889f2363
commit e4004955ad
4 changed files with 142 additions and 24 deletions
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35
rcl/include/rcl/rmw_implementation_identifier_check.h Normal file
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@ -0,0 +1,35 @@
// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCL__RMW_IMPLEMENTATION_IDENTIFIER_CHECK_H_
#define RCL__RMW_IMPLEMENTATION_IDENTIFIER_CHECK_H_
#ifdef __cplusplus
extern "C"
{
#endif
#include "rcl/visibility_control.h"
#define RMW_IMPLEMENTATION_ENV_VAR_NAME "RMW_IMPLEMENTATION"
#define RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME "RCL_ASSERT_RMW_ID_MATCHES"
RCL_PUBLIC
rcl_ret_t rcl_rmw_implementation_identifier_check(void);
#ifdef __cplusplus
}
#endif
#endif // RCL__RMW_IMPLEMENTATION_IDENTIFIER_CHECK_H_

53
rcl/src/rcl/rmw_implementation_identifier_check.c
View file

@ -30,8 +30,7 @@ extern "C"
#include "rcl/types.h"
#define RMW_IMPLEMENTATION_ENV_VAR_NAME "RMW_IMPLEMENTATION"
#define RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME "RCL_ASSERT_RMW_ID_MATCHES"
#include "rcl/rmw_implementation_identifier_check.h"
// Extracted this portable method of doing a "shared library constructor" from SO:
// http://stackoverflow.com/a/2390626/671658
@ -55,7 +54,8 @@ extern "C"
static void f(void)
#endif
INITIALIZER(initialize) {
rcl_ret_t rcl_rmw_implementation_identifier_check(void)
{
// If the environment variable RMW_IMPLEMENTATION is set, or
// the environment variable RCL_ASSERT_RMW_ID_MATCHES is set,
// check that the result of `rmw_get_implementation_identifier` matches.
@ -66,18 +66,17 @@ INITIALIZER(initialize) {
RMW_IMPLEMENTATION_ENV_VAR_NAME,
&expected_rmw_impl_env);
if (NULL != get_env_error_str) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error getting env var '" RCUTILS_STRINGIFY(RMW_IMPLEMENTATION_ENV_VAR_NAME) "': %s\n",
get_env_error_str);
exit(RCL_RET_ERROR);
return RCL_RET_ERROR;
}
if (strlen(expected_rmw_impl_env) > 0) {
// Copy the environment variable so it doesn't get over-written by the next getenv call.
expected_rmw_impl = rcutils_strdup(expected_rmw_impl_env, allocator);
if (!expected_rmw_impl) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "allocation failed");
exit(RCL_RET_BAD_ALLOC);
RCL_SET_ERROR_MSG("allocation failed");
return RCL_RET_BAD_ALLOC;
}
}
@ -86,31 +85,29 @@ INITIALIZER(initialize) {
get_env_error_str = rcutils_get_env(
RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, &asserted_rmw_impl_env);
if (NULL != get_env_error_str) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error getting env var '"
RCUTILS_STRINGIFY(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME) "': %s\n",
get_env_error_str);
exit(RCL_RET_ERROR);
return RCL_RET_ERROR;
}
if (strlen(asserted_rmw_impl_env) > 0) {
// Copy the environment variable so it doesn't get over-written by the next getenv call.
asserted_rmw_impl = rcutils_strdup(asserted_rmw_impl_env, allocator);
if (!asserted_rmw_impl) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "allocation failed");
exit(RCL_RET_BAD_ALLOC);
RCL_SET_ERROR_MSG("allocation failed");
return RCL_RET_BAD_ALLOC;
}
}
// If both environment variables are set, and they do not match, print an error and exit.
if (expected_rmw_impl && asserted_rmw_impl && strcmp(expected_rmw_impl, asserted_rmw_impl) != 0) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Values of RMW_IMPLEMENTATION ('%s') and RCL_ASSERT_RMW_ID_MATCHES ('%s') environment "
"variables do not match, exiting with %d.",
expected_rmw_impl, asserted_rmw_impl, RCL_RET_ERROR
);
exit(RCL_RET_ERROR);
return RCL_RET_ERROR;
}
// Collapse the expected_rmw_impl and asserted_rmw_impl variables so only expected_rmw_impl needs
@ -130,31 +127,39 @@ INITIALIZER(initialize) {
// If either environment variable is set, and it does not match, print an error and exit.
if (expected_rmw_impl) {
const char * actual_rmw_impl_id = rmw_get_implementation_identifier();
const rcutils_error_string_t rmw_error_msg = rcl_get_error_string();
rcl_reset_error();
if (!actual_rmw_impl_id) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Error getting RMW implementation identifier / RMW implementation not installed "
"(expected identifier of '%s'), with error message '%s', exiting with %d.",
expected_rmw_impl,
rcl_get_error_string().str,
rmw_error_msg.str,
RCL_RET_ERROR
);
rcl_reset_error();
exit(RCL_RET_ERROR);
return RCL_RET_ERROR;
}
if (strcmp(actual_rmw_impl_id, expected_rmw_impl) != 0) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
"Expected RMW implementation identifier of '%s' but instead found '%s', exiting with %d.",
expected_rmw_impl,
actual_rmw_impl_id,
RCL_RET_MISMATCHED_RMW_ID
);
exit(RCL_RET_MISMATCHED_RMW_ID);
return RCL_RET_MISMATCHED_RMW_ID;
}
// Free the memory now that all checking has passed.
allocator.deallocate((char *)expected_rmw_impl, allocator.state);
}
return RCL_RET_OK;
}
INITIALIZER(initialize) {
rcl_ret_t ret = rcl_rmw_implementation_identifier_check();
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "%s\n", rcl_get_error_string().str);
exit(ret);
}
}
#ifdef __cplusplus

8
rcl/test/CMakeLists.txt
View file

@ -279,6 +279,14 @@ function(test_target_function)
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
)
rcl_add_custom_gtest(test_rmw_impl_id_check_func${target_suffix}
SRCS rcl/test_rmw_impl_id_check_func.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation}
)
# Launch tests
rcl_add_custom_executable(service_fixture${target_suffix}

70
rcl/test/rcl/test_rmw_impl_id_check_func.cpp Normal file
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@ -0,0 +1,70 @@
// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include "rcutils/env.h"
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcl/rmw_implementation_identifier_check.h"
TEST(TestRmwCheck, test_rmw_check_id_impl) {
EXPECT_EQ(RCL_RET_OK, rcl_rmw_implementation_identifier_check());
}
TEST(TestRmwCheck, test_failing_configuration) {
const char * expected_rmw_impl_env = NULL;
const char * expected_rmw_id_matches = NULL;
const char * get_env_var_name = rcutils_get_env(
RMW_IMPLEMENTATION_ENV_VAR_NAME,
&expected_rmw_impl_env);
const char * get_env_id_matches_name = rcutils_get_env(
RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME,
&expected_rmw_id_matches);
// Fail test case, reason: RMW_IMPLEMENTATION_ENV_VAR_NAME set, not matching rmw impl
EXPECT_TRUE(rcutils_set_env(RMW_IMPLEMENTATION_ENV_VAR_NAME, "some_random_name"));
EXPECT_TRUE(rcutils_set_env(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, ""));
EXPECT_EQ(RCL_RET_MISMATCHED_RMW_ID, rcl_rmw_implementation_identifier_check());
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Fail test case, reason: RMW_IMPLEMENTATION_ENV_VAR_NAME set, not matching rmw impl
EXPECT_TRUE(rcutils_set_env(RMW_IMPLEMENTATION_ENV_VAR_NAME, ""));
EXPECT_TRUE(rcutils_set_env(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, "some_random_name"));
EXPECT_EQ(RCL_RET_MISMATCHED_RMW_ID, rcl_rmw_implementation_identifier_check());
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Fail test case, reason: env variables not equal
EXPECT_TRUE(rcutils_set_env(RMW_IMPLEMENTATION_ENV_VAR_NAME, "some_random_name"));
EXPECT_TRUE(rcutils_set_env(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, "diff_random"));
EXPECT_EQ(RCL_RET_ERROR, rcl_rmw_implementation_identifier_check());
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Fail test case, reason: equal env variables do not match rmw impl
EXPECT_TRUE(rcutils_set_env(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, "some_random_name"));
EXPECT_TRUE(rcutils_set_env(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, "some_random_name"));
EXPECT_EQ(RCL_RET_MISMATCHED_RMW_ID, rcl_rmw_implementation_identifier_check());
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Restore env variables set in the test
EXPECT_TRUE(rcutils_set_env(RMW_IMPLEMENTATION_ENV_VAR_NAME, get_env_var_name));
EXPECT_TRUE(rcutils_set_env(RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME, get_env_id_matches_name));
}