Add coverage tests graph_listener (#1330)
* Add file to test graph_listener * Add tests start graph listener * Add tests errors run graph listener * Add tests add/remove node * Remove dynamic cast * Remove repeated line * Remove comment * Add reset to avoid warning * Add checks construction graph listener * Add tests shutdown * Change node_graph definition * Remove test failing MacOS * Remove test not working on Windows Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
This commit is contained in:
Jorge Perez
brawner
parent
94082318c9
commit
0a4ff4db3d
2 changed files with 298 additions and 0 deletions
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@ -630,6 +630,11 @@ if(TARGET test_executor)
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target_link_libraries(test_executor ${PROJECT_NAME} mimick)
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endif()
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ament_add_gtest(test_graph_listener rclcpp/test_graph_listener.cpp)
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if(TARGET test_graph_listener)
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target_link_libraries(test_graph_listener ${PROJECT_NAME} mimick)
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endif()
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# Install test resources
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install(
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DIRECTORY resources
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293
rclcpp/test/rclcpp/test_graph_listener.cpp
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293
rclcpp/test/rclcpp/test_graph_listener.cpp
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@ -0,0 +1,293 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <memory>
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#include "rclcpp/contexts/default_context.hpp"
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#include "rclcpp/graph_listener.hpp"
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#include "rclcpp/node_interfaces/node_graph.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "../mocking_utils/patch.hpp"
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#include "../utils/rclcpp_gtest_macros.hpp"
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namespace
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{
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constexpr char node_name[] = "node";
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constexpr char node_namespace[] = "ns";
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constexpr char shutdown_error_str[] = "GraphListener already shutdown";
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} // namespace
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class TestGraphListener : public ::testing::Test
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{
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public:
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void SetUp()
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{
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rclcpp::init(0, nullptr);
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node_ = std::make_shared<rclcpp::Node>(node_name, node_namespace);
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node_graph_ = node_->get_node_graph_interface();
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ASSERT_NE(nullptr, node_graph_);
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graph_listener_ =
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std::make_shared<rclcpp::graph_listener::GraphListener>(
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rclcpp::contexts::get_global_default_context());
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}
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void TearDown()
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{
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rclcpp::shutdown();
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}
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protected:
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std::shared_ptr<rclcpp::Node> node() {return node_;}
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rclcpp::node_interfaces::NodeGraphInterface * node_graph() {return node_graph_.get();}
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std::shared_ptr<rclcpp::graph_listener::GraphListener> graph_listener() {return graph_listener_;}
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private:
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std::shared_ptr<rclcpp::Node> node_;
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rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
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std::shared_ptr<rclcpp::graph_listener::GraphListener> graph_listener_;
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};
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/* Run base class init/shutdown */
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TEST_F(TestGraphListener, construction_and_destruction) {
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EXPECT_FALSE(graph_listener()->has_node(node_graph()));
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EXPECT_FALSE(graph_listener()->is_shutdown());
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}
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// Required for mocking_utils below
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, ==)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, !=)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, <)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, >)
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/* Error creating a new graph listener */
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TEST_F(TestGraphListener, error_construct_graph_listener) {
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using rclcpp::contexts::get_global_default_context;
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_guard_condition_init, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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{
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auto graph_listener_error =
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std::make_shared<rclcpp::graph_listener::GraphListener>(get_global_default_context());
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graph_listener_error.reset();
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}, std::runtime_error("failed to create interrupt guard condition: error not set"));
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}
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// Required for mocking_utils below
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
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/* Errors that occur when initializing the graph_listener */
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TEST_F(TestGraphListener, error_start_graph_listener) {
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_wait_set_init, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->start_if_not_started(),
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std::runtime_error("failed to initialize wait set: error not set"));
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}
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{
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EXPECT_NO_THROW(graph_listener()->shutdown());
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->start_if_not_started(),
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std::runtime_error(shutdown_error_str));
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}
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}
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class TestGraphListenerProtectedMethods : public rclcpp::graph_listener::GraphListener
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{
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public:
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explicit TestGraphListenerProtectedMethods(std::shared_ptr<rclcpp::Context> parent_context)
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: rclcpp::graph_listener::GraphListener{parent_context}
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{}
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void run_protected()
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{
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this->run();
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}
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void mock_start_thread()
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{
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// This function prepares the loop thread to be run, but leave
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// early with the failure thrown. That way the graph_listener wait_set
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// is init, without being started
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auto mock_wait_set_init = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_wait_set_init, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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this->start_if_not_started(),
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std::runtime_error("failed to initialize wait set: error not set"));
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}
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};
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/* Errors running graph protected methods */
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TEST_F(TestGraphListener, error_run_graph_listener_destroy_context) {
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auto context_to_destroy = std::make_shared<rclcpp::contexts::DefaultContext>();
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context_to_destroy->init(0, nullptr);
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auto graph_listener_error =
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std::make_shared<TestGraphListenerProtectedMethods>(context_to_destroy);
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context_to_destroy.reset();
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EXPECT_NO_THROW(graph_listener_error->run_protected());
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}
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TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_set_clear) {
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auto global_context = rclcpp::contexts::get_global_default_context();
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auto graph_listener_test =
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std::make_shared<TestGraphListenerProtectedMethods>(global_context);
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graph_listener_test->mock_start_thread();
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auto mock_wait_set_clear = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener_test->run_protected(),
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std::runtime_error("failed to clear wait set: error not set"));
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}
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TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_set_add_guard_condition) {
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auto global_context = rclcpp::contexts::get_global_default_context();
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auto graph_listener_test =
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std::make_shared<TestGraphListenerProtectedMethods>(global_context);
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graph_listener_test->mock_start_thread();
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auto mock_wait_set_clear = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_wait_set_add_guard_condition, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener_test->run_protected(),
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std::runtime_error("failed to add interrupt guard condition to wait set: error not set"));
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}
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TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_set_add_guard_condition_twice) {
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auto global_context = rclcpp::contexts::get_global_default_context();
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auto graph_listener_test =
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std::make_shared<TestGraphListenerProtectedMethods>(global_context);
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graph_listener_test->mock_start_thread();
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auto mock = mocking_utils::patch(
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"lib:rclcpp", rcl_wait_set_add_guard_condition, [](auto, ...) {
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static int counter = 1;
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if (counter == 1) {
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counter++;
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return RCL_RET_OK;
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} else {
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return RCL_RET_ERROR;
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}
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});
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener_test->run_protected(),
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std::runtime_error("failed to add shutdown guard condition to wait set: error not set"));
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}
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TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_error) {
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auto global_context = rclcpp::contexts::get_global_default_context();
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auto graph_listener_test =
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std::make_shared<TestGraphListenerProtectedMethods>(global_context);
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graph_listener_test->mock_start_thread();
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auto mock_wait_set_clear = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_wait, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener_test->run_protected(),
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std::runtime_error("failed to wait on wait set: error not set"));
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}
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TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_timeout) {
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auto global_context = rclcpp::contexts::get_global_default_context();
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auto graph_listener_test =
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std::make_shared<TestGraphListenerProtectedMethods>(global_context);
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graph_listener_test->mock_start_thread();
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auto mock_wait_set_clear = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_wait, RCL_RET_TIMEOUT);
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener_test->run_protected(),
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std::runtime_error("rcl_wait unexpectedly timed out"));
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}
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/* Add/Remove node usage */
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TEST_F(TestGraphListener, test_graph_listener_add_remove_node) {
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EXPECT_FALSE(graph_listener()->has_node(node_graph()));
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graph_listener()->add_node(node_graph());
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EXPECT_TRUE(graph_listener()->has_node(node_graph()));
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graph_listener()->remove_node(node_graph());
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EXPECT_FALSE(graph_listener()->has_node(node_graph()));
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}
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/* Add/Remove node error usage */
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TEST_F(TestGraphListener, test_errors_graph_listener_add_remove_node) {
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// nullptrs tests
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EXPECT_FALSE(graph_listener()->has_node(nullptr));
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->add_node(nullptr),
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std::invalid_argument("node is nullptr"));
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->remove_node(nullptr),
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std::invalid_argument("node is nullptr"));
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// Already added
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graph_listener()->add_node(node_graph());
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EXPECT_TRUE(graph_listener()->has_node(node_graph()));
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->add_node(node_graph()),
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std::runtime_error("node already added"));
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// Remove node not found
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graph_listener()->remove_node(node_graph());
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EXPECT_FALSE(graph_listener()->has_node(node_graph()));
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->remove_node(node_graph()),
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std::runtime_error("node not found"));
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// Add and remove after shutdown
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EXPECT_NO_THROW(graph_listener()->shutdown());
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->add_node(node_graph()),
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std::runtime_error(shutdown_error_str));
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// Remove works the same
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->remove_node(node_graph()),
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std::runtime_error("node not found"));
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}
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/* Shutdown errors */
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TEST_F(TestGraphListener, test_graph_listener_shutdown_wait_fini_error_nothrow) {
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graph_listener()->start_if_not_started();
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auto mock_wait_set_fini = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_wait_set_fini, RCL_RET_ERROR);
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// Exception is logged when using nothrow_t
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EXPECT_NO_THROW(graph_listener()->shutdown(std::nothrow_t()));
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}
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TEST_F(TestGraphListener, test_graph_listener_shutdown_wait_fini_error_throw) {
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graph_listener()->start_if_not_started();
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auto mock_wait_set_fini = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_wait_set_fini, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->shutdown(),
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std::runtime_error("failed to finalize wait set: error not set"));
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}
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TEST_F(TestGraphListener, test_graph_listener_shutdown_guard_fini_error_throw) {
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graph_listener()->start_if_not_started();
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auto mock_wait_set_fini = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
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RCLCPP_EXPECT_THROW_EQ(
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graph_listener()->shutdown(),
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std::runtime_error("failed to finalize interrupt guard condition: error not set"));
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}
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