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Increase test coverage of rclcpp_lifecycle to 96% (#1298)

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* Increase test coverage of rclcpp_lifecycle to 96%

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

* PR Fixup

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

* test_depend

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

* rcutils test_depend

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

* More windows warnings

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-09-18 10:41:20 -07:00 • committed by Alejandro Hernández Cordero
parent ed7a23731a
commit e920175dae
7 changed files with 921 additions and 14 deletions
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85
rclcpp_lifecycle/test/test_transition_wrapper.cpp
View file

@ -18,8 +18,12 @@
#include <utility>
#include <vector>
#include "rcutils/testing/fault_injection.h"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "./mocking_utils/patch.hpp"
class TestTransitionWrapper : public ::testing::Test
{
protected:
@ -31,8 +35,11 @@ protected:
class TransitionDerived : public rclcpp_lifecycle::Transition
{
public:
TransitionDerived(const uint8_t id, const std::string & label)
: Transition(id, label) {}
TransitionDerived(
uint8_t id, const std::string & label,
const uint8_t id, const std::string & label,
rclcpp_lifecycle::State && start, rclcpp_lifecycle::State && goal)
: Transition(id, label, std::move(start), std::move(goal)) {}
void expose_reset()
@ -125,4 +132,80 @@ TEST_F(TestTransitionWrapper, exceptions) {
EXPECT_THROW(a->goal_state(), std::runtime_error);
EXPECT_THROW(a->id(), std::runtime_error);
EXPECT_THROW(a->label(), std::runtime_error);
{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_transition_init, RCL_RET_ERROR);
EXPECT_THROW(
std::make_shared<TransitionDerived>(1, "one").reset(),
std::runtime_error);
rclcpp_lifecycle::State state1(1, "start_state");
rclcpp_lifecycle::State state2(2, "goal_state");
EXPECT_THROW(
std::make_shared<TransitionDerived>(
2, "two", std::move(start_state), std::move(goal_state)).reset(),
std::runtime_error);
}
{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_transition_fini, RCL_RET_ERROR);
auto transition1 = std::make_shared<TransitionDerived>(1, "one");
EXPECT_NO_THROW(transition1->expose_reset());
rclcpp_lifecycle::State state1(1, "start_state");
rclcpp_lifecycle::State state2(2, "goal_state");
auto transition2 =
std::make_shared<TransitionDerived>(2, "two", std::move(start_state), std::move(goal_state));
EXPECT_NO_THROW(transition2->expose_reset());
}
RCUTILS_FAULT_INJECTION_TEST(
{
std::shared_ptr<TransitionDerived> transition = nullptr;
try {
transition = std::make_shared<TransitionDerived>(1, "one");
} catch (...) {
}
if (nullptr != transition) {
EXPECT_NO_THROW(transition->expose_reset());
}
});
RCUTILS_FAULT_INJECTION_TEST(
{
std::shared_ptr<TransitionDerived> transition = nullptr;
try {
{
// These will fail due to failed allocations
rclcpp_lifecycle::State state1(1, "start_state");
rclcpp_lifecycle::State state2(2, "goal_state");
// Failed allocations and failed rcl init functions
transition = std::make_shared<TransitionDerived>(
2, "two", std::move(state1), std::move(state2));
}
} catch (...) {
}
if (nullptr != transition) {
EXPECT_NO_THROW(transition->expose_reset());
}
});
RCUTILS_FAULT_INJECTION_TEST(
{
try {
// These will fail due to failed allocations
rclcpp_lifecycle::State state1(1, "start_state");
rclcpp_lifecycle::State state2(2, "goal_state");
// Failed allocations and failed rcl init functions
auto a = std::make_shared<TransitionDerived>(2, "two", std::move(state1), std::move(state2));
auto b = std::make_shared<TransitionDerived>(3, "three");
*b = *a;
} catch (...) {
}
});
}