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Improve wait sets test coverage. #683

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merged 3 commits into from
Jun 18, 2020
Merged

Improve wait sets test coverage. #683

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d5a74da
Improve wait sets test coverage.
hidmic Jun 12, 2020
e7ce68a
Address peer review comments.
hidmic Jun 15, 2020
248e009
Address peer review comments.
hidmic Jun 17, 2020
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68 changes: 68 additions & 0 deletions rcl/test/rcl/test_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,14 +29,20 @@

#include "rcutils/logging_macros.h"

#include "./allocator_testing_utils.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
#else
# define CLASSNAME(NAME, SUFFIX) NAME
#endif

#ifndef _WIN32
#define TOLERANCE RCL_MS_TO_NS(6)
#else
#define TOLERANCE RCL_MS_TO_NS(15)
#endif

class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
Expand Down Expand Up @@ -86,6 +92,25 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_is_valid) {
EXPECT_FALSE(rcl_wait_set_is_valid(&wait_set));
}

TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_failed_resize) {
// Initialize a wait set with a subscription and then resize it to zero.
rcl_allocator_t allocator = get_failing_allocator();
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
set_failing_allocator_is_failing(allocator, false);
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

set_failing_allocator_is_failing(allocator, true);
ret = rcl_wait_set_resize(&wait_set, 0, 1, 0, 0, 0, 0);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
rcl_reset_error();

set_failing_allocator_is_failing(allocator, false);
ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
// Initialize a wait set with a subscription and then resize it to zero.
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
Expand Down Expand Up @@ -257,6 +282,49 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
EXPECT_LE(diff, TOLERANCE);
}

// Test rcl_wait with a timeout value and an overrun timer
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_overrun_timer) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, 0, nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Time spent during wait should be negligible, definitely less than the given timeout
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
std::chrono::steady_clock::time_point after_sc = std::chrono::steady_clock::now();
// We don't expect a timeout here (since the guard condition had already been triggered)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, RCL_MS_TO_NS(50));
}

// Check that a canceled timer doesn't wake up rcl_wait
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
Expand Down