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Improve subscription coverage (#681)
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* Add bad argument tests for subscription.c
* Add missing rcl_reset_error()
* Add test failing cyclone
* Disable test not working for rmw_cyclone_cpp
* Add simple bad alloc test
* Add tests enclave_name
* Revert "Add tests enclave_name"
* Move init/fini tests
* Add auxiliar testing class
* Reformat into smaller tests
* Add checks ini/fini rmw messages
* Add issue report for disabled test
* Add assert for msg init
* Add bad_allocator test

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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@Blast545 @ahcorde
Blast545 authored and ahcorde committed Oct 8, 2020
1 parent 30d777e commit 063aa31
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12 changes: 12 additions & 0 deletions rcl/test/rcl/test_expand_topic_name.cpp
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Expand Up @@ -23,6 +23,8 @@

#include "rcl/error_handling.h"

#include "./allocator_testing_utils.h"

using namespace std::string_literals;

TEST(test_expand_topic_name, normal) {
Expand Down Expand Up @@ -121,6 +123,16 @@ TEST(test_expand_topic_name, invalid_arguments) {
rcl_reset_error();
}

// pass failing allocator
{
rcl_allocator_t bad_allocator = get_failing_allocator();
EXPECT_EQ(
RCL_RET_BAD_ALLOC,
rcl_expand_topic_name("/absolute", node, ns, &subs, bad_allocator, &expanded_topic));
EXPECT_STREQ(NULL, expanded_topic);
rcl_reset_error();
}

ret = rcutils_string_map_fini(&subs);
ASSERT_EQ(RCL_RET_OK, ret);
}
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221 changes: 221 additions & 0 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@
#include "rcl/error_handling.h"
#include "wait_for_entity_helpers.hpp"

#include "./allocator_testing_utils.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
Expand Down Expand Up @@ -78,6 +80,38 @@ class CLASSNAME (TestSubscriptionFixture, RMW_IMPLEMENTATION) : public ::testing
}
};

class CLASSNAME (TestSubscriptionFixtureInit, RMW_IMPLEMENTATION)
: public CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION)
{
public:
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "/chatter";
rcl_subscription_options_t subscription_options;
rcl_subscription_t subscription;
rcl_subscription_t subscription_zero_init;
rcl_ret_t ret;
rcutils_allocator_t allocator;

void SetUp() override
{
CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::SetUp();
allocator = rcutils_get_default_allocator();
subscription_options = rcl_subscription_get_default_options();
subscription = rcl_get_zero_initialized_subscription();
subscription_zero_init = rcl_get_zero_initialized_subscription();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void TearDown() override
{
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::TearDown();
}
};

/* Test subscription init, fini and is_valid functions
*/
TEST_F(
Expand Down Expand Up @@ -109,6 +143,56 @@ TEST_F(
rcl_reset_error();
}

// Bad arguments for init and fini
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_bad_init) {
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "/chatter";
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_node_t invalid_node = rcl_get_zero_initialized_node();

ASSERT_FALSE(rcl_node_is_valid_except_context(&invalid_node));
EXPECT_EQ(nullptr, rcl_node_get_rmw_handle(&invalid_node));

EXPECT_EQ(
RCL_RET_NODE_INVALID,
rcl_subscription_init(&subscription, nullptr, ts, topic, &subscription_options));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_NODE_INVALID,
rcl_subscription_init(&subscription, &invalid_node, ts, topic, &subscription_options));
rcl_reset_error();

rcl_ret_t ret = rcl_subscription_init(
&subscription, this->node_ptr, ts, "spaced name", &subscription_options);
EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_subscription_init(
&subscription, this->node_ptr, ts, "sub{ros_not_match}", &subscription_options);
EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();

rcl_subscription_options_t bad_subscription_options = rcl_subscription_get_default_options();
bad_subscription_options.allocator = get_failing_allocator();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &bad_subscription_options);

ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_TRUE(rcl_subscription_is_valid(&subscription));
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, nullptr));
rcl_reset_error();
EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, &invalid_node));
rcl_reset_error();

ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Basic nominal test of a subscription
*/
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
Expand Down Expand Up @@ -528,3 +612,140 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options)

ASSERT_EQ(NULL, rcl_subscription_get_options(nullptr));
}

/* bad take()
*/
TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take) {
test_msgs__msg__BasicTypes msg;
rmw_message_info_t message_info = rmw_get_zero_initialized_message_info();
ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&msg));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__BasicTypes__fini(&msg);
});
EXPECT_EQ(RCL_RET_SUBSCRIPTION_INVALID, rcl_take(nullptr, &msg, &message_info, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID, rcl_take(&subscription_zero_init, &msg, &message_info, nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED, rcl_take(&subscription, &msg, &message_info, nullptr));
rcl_reset_error();
}

/* bad take_serialized
*/
TEST_F(
CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION),
test_subscription_bad_take_serialized) {
rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
size_t initial_capacity_ser = 0u;
ASSERT_EQ(
RCL_RET_OK, rmw_serialized_message_init(
&serialized_msg, initial_capacity_ser, &allocator)) << rcl_get_error_string().str;

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_serialized_message(nullptr, &serialized_msg, nullptr, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_serialized_message(&subscription_zero_init, &serialized_msg, nullptr, nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED,
rcl_take_serialized_message(&subscription, &serialized_msg, nullptr, nullptr));
rcl_reset_error();
}

/* Bad arguments take_sequence
*/
TEST_F(
CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take_sequence)
{
size_t seq_size = 3u;
rmw_message_sequence_t messages;
ASSERT_EQ(RMW_RET_OK, rmw_message_sequence_init(&messages, seq_size, &allocator));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RMW_RET_OK, rmw_message_sequence_fini(&messages));
});
rmw_message_info_sequence_t message_infos_short;
ASSERT_EQ(
RMW_RET_OK, rmw_message_info_sequence_init(&message_infos_short, seq_size - 1u, &allocator));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RMW_RET_OK, rmw_message_info_sequence_fini(&message_infos_short));
});
rmw_message_info_sequence_t message_infos;
ASSERT_EQ(
RMW_RET_OK, rmw_message_info_sequence_init(&message_infos, seq_size, &allocator));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RMW_RET_OK, rmw_message_info_sequence_fini(&message_infos));
});

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_sequence(nullptr, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_sequence(&subscription_zero_init, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_take_sequence(&subscription, seq_size + 1, &messages, &message_infos, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_take_sequence(&subscription, seq_size, &messages, &message_infos_short, nullptr));
rcl_reset_error();

// This test fails for rmw_cyclonedds_cpp function rmw_take_sequence
// Tracked here: https://github.com/ros2/rmw_cyclonedds/issues/193
/*
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED,
rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();
*/
}

/* Using bad arguments subscription methods
*/
TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_argument) {
size_t pub_count = 0;

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID, rcl_subscription_get_publisher_count(nullptr, &pub_count));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(nullptr));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_options(nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_subscription_get_publisher_count(&subscription_zero_init, &pub_count));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(&subscription_zero_init));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_options(&subscription_zero_init));
rcl_reset_error();
}

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