Add coverage for client API (#1329)
* Add coverage for client API Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>
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brawner
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443fc180c7
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f000b53095
2 changed files with 207 additions and 1 deletions
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@ -79,8 +79,9 @@ if(TARGET test_client)
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"rmw"
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"rosidl_runtime_cpp"
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"rosidl_typesupport_cpp"
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"test_msgs"
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)
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target_link_libraries(test_client ${PROJECT_NAME})
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target_link_libraries(test_client ${PROJECT_NAME} mimick)
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endif()
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ament_add_gtest(test_create_timer rclcpp/test_create_timer.cpp)
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if(TARGET test_create_timer)
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@ -16,12 +16,17 @@
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#include <string>
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#include <memory>
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#include <utility>
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#include "rclcpp/exceptions.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rcl_interfaces/srv/list_parameters.hpp"
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#include "../mocking_utils/patch.hpp"
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#include "test_msgs/srv/empty.hpp"
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class TestClient : public ::testing::Test
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{
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protected:
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@ -30,6 +35,11 @@ protected:
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rclcpp::init(0, nullptr);
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}
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static void TearDownTestCase()
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{
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rclcpp::shutdown();
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}
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void SetUp()
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{
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node = std::make_shared<rclcpp::Node>("my_node", "/ns");
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@ -48,6 +58,12 @@ class TestClientSub : public ::testing::Test
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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static void TearDownTestCase()
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{
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rclcpp::shutdown();
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}
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void SetUp()
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@ -106,6 +122,38 @@ TEST_F(TestClient, construction_with_free_function) {
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}
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}
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TEST_F(TestClient, construct_with_rcl_error) {
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{
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// reset() is not necessary for this exception, but handles unused return value warning
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auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_client_init, RCL_RET_ERROR);
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EXPECT_THROW(
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node->create_client<test_msgs::srv::Empty>("service").reset(),
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rclcpp::exceptions::RCLError);
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}
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{
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// reset() is required for this one
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auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_client_fini, RCL_RET_ERROR);
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EXPECT_NO_THROW(node->create_client<test_msgs::srv::Empty>("service").reset());
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}
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}
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TEST_F(TestClient, wait_for_service) {
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const std::string service_name = "service";
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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EXPECT_FALSE(client->wait_for_service(std::chrono::nanoseconds(0)));
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EXPECT_FALSE(client->wait_for_service(std::chrono::milliseconds(10)));
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auto callback = [](
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const test_msgs::srv::Empty::Request::SharedPtr,
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test_msgs::srv::Empty::Response::SharedPtr) {};
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auto service =
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node->create_service<test_msgs::srv::Empty>(service_name, std::move(callback));
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EXPECT_TRUE(client->wait_for_service(std::chrono::nanoseconds(-1)));
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EXPECT_TRUE(client->service_is_ready());
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}
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/*
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Testing client construction and destruction for subnodes.
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*/
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@ -123,3 +171,160 @@ TEST_F(TestClientSub, construction_and_destruction) {
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}, rclcpp::exceptions::InvalidServiceNameError);
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}
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}
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class TestClientWithServer : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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static void TearDownTestCase()
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{
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rclcpp::shutdown();
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}
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void SetUp()
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{
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node = std::make_shared<rclcpp::Node>("node", "ns");
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auto callback = [](
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const test_msgs::srv::Empty::Request::SharedPtr,
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test_msgs::srv::Empty::Response::SharedPtr) {};
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service = node->create_service<test_msgs::srv::Empty>(service_name, std::move(callback));
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}
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::testing::AssertionResult SendEmptyRequestAndWait(
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std::chrono::milliseconds timeout = std::chrono::milliseconds(1000))
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{
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using SharedFuture = rclcpp::Client<test_msgs::srv::Empty>::SharedFuture;
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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if (!client->wait_for_service()) {
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return ::testing::AssertionFailure() << "Waiting for service failed";
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}
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auto request = std::make_shared<test_msgs::srv::Empty::Request>();
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bool received_response = false;
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::testing::AssertionResult request_result = ::testing::AssertionSuccess();
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auto callback = [&received_response, &request_result](SharedFuture future_response) {
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if (nullptr == future_response.get()) {
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request_result = ::testing::AssertionFailure() << "Future response was null";
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}
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received_response = true;
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};
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auto future = client->async_send_request(request, std::move(callback));
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auto start = std::chrono::steady_clock::now();
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while (!received_response &&
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(std::chrono::steady_clock::now() - start) < timeout)
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{
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rclcpp::spin_some(node);
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}
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if (!received_response) {
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return ::testing::AssertionFailure() << "Waiting for response timed out";
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}
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return request_result;
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}
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std::shared_ptr<rclcpp::Node> node;
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std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty>> service;
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const std::string service_name{"empty_service"};
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};
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TEST_F(TestClientWithServer, async_send_request) {
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EXPECT_TRUE(SendEmptyRequestAndWait());
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}
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TEST_F(TestClientWithServer, async_send_request_callback_with_request) {
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using SharedFutureWithRequest =
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rclcpp::Client<test_msgs::srv::Empty>::SharedFutureWithRequest;
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(1)));
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auto request = std::make_shared<test_msgs::srv::Empty::Request>();
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bool received_response = false;
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auto callback = [&request, &received_response](SharedFutureWithRequest future) {
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auto request_response_pair = future.get();
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EXPECT_EQ(request, request_response_pair.first);
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EXPECT_NE(nullptr, request_response_pair.second);
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received_response = true;
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};
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auto future = client->async_send_request(request, std::move(callback));
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auto start = std::chrono::steady_clock::now();
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while (!received_response &&
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(std::chrono::steady_clock::now() - start) < std::chrono::seconds(1))
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{
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rclcpp::spin_some(node);
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}
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EXPECT_TRUE(received_response);
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}
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TEST_F(TestClientWithServer, async_send_request_rcl_send_request_error) {
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// Checking rcl_send_request in rclcpp::Client::async_send_request()
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auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_send_request, RCL_RET_ERROR);
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EXPECT_THROW(SendEmptyRequestAndWait(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestClientWithServer, async_send_request_rcl_service_server_is_available_error) {
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{
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// Checking rcl_service_server_is_available in rclcpp::ClientBase::service_is_ready
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_service_server_is_available, RCL_RET_NODE_INVALID);
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EXPECT_THROW(client->service_is_ready(), rclcpp::exceptions::RCLError);
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}
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{
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// Checking rcl_service_server_is_available exception in rclcpp::ClientBase::service_is_ready
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_service_server_is_available, RCL_RET_ERROR);
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EXPECT_THROW(client->service_is_ready(), rclcpp::exceptions::RCLError);
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}
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{
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// Checking rcl_service_server_is_available exception in rclcpp::ClientBase::service_is_ready
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_service_server_is_available, RCL_RET_ERROR);
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EXPECT_THROW(client->service_is_ready(), rclcpp::exceptions::RCLError);
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}
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}
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TEST_F(TestClientWithServer, take_response) {
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(1)));
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auto request = std::make_shared<test_msgs::srv::Empty::Request>();
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auto request_header = client->create_request_header();
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test_msgs::srv::Empty::Response response;
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client->async_send_request(request);
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EXPECT_FALSE(client->take_response(response, *request_header.get()));
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{
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// Checking rcl_take_response in rclcpp::ClientBase::take_type_erased_response
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_take_response, RCL_RET_OK);
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EXPECT_TRUE(client->take_response(response, *request_header.get()));
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}
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{
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// Checking rcl_take_response in rclcpp::ClientBase::take_type_erased_response
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_take_response, RCL_RET_CLIENT_TAKE_FAILED);
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EXPECT_FALSE(client->take_response(response, *request_header.get()));
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}
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{
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// Checking rcl_take_response in rclcpp::ClientBase::take_type_erased_response
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_take_response, RCL_RET_ERROR);
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EXPECT_THROW(
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client->take_response(response, *request_header.get()),
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rclcpp::exceptions::RCLError);
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}
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}
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