Add fault injection macros to rcl functions #727
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| Original file line number | Diff line number | Diff line change | ||||
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@@ -17,6 +17,7 @@ | |||||
| #include "rcl/client.h" | ||||||
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| #include "rcl/rcl.h" | ||||||
| #include "rcutils/testing/fault_injection.h" | ||||||
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| #include "test_msgs/srv/basic_types.h" | ||||||
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@@ -277,3 +278,29 @@ TEST_F(TestClientFixture, test_client_bad_arguments) { | |||||
| &client, &client_request, &sequence_number)) << rcl_get_error_string().str; | ||||||
| EXPECT_EQ(24, sequence_number); | ||||||
| } | ||||||
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| TEST_F(TestClientFixture, test_client_init_fini_maybe_fail) | ||||||
| { | ||||||
| const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT( | ||||||
| test_msgs, srv, BasicTypes); | ||||||
| constexpr char topic_name[] = "chatter"; | ||||||
| rcl_client_options_t default_client_options = rcl_client_get_default_options(); | ||||||
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| RCUTILS_FAULT_INJECTION_TEST( | ||||||
| { | ||||||
| rcl_client_t client = rcl_get_zero_initialized_client(); | ||||||
| rcl_ret_t ret = rcl_client_init( | ||||||
| &client, this->node_ptr, ts, topic_name, &default_client_options); | ||||||
| if (RCL_RET_OK == ret) { | ||||||
| EXPECT_TRUE(rcl_client_is_valid(&client)); | ||||||
| ret = rcl_client_fini(&client, this->node_ptr); | ||||||
|
There was a problem hiding this comment. @brawner why not:
Suggested change
? There was a problem hiding this comment. What happens in this scenario if There was a problem hiding this comment. While there are few functions in |
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| if (RCL_RET_OK != ret) { | ||||||
| // If fault injection caused fini to fail, we should try it again. | ||||||
| EXPECT_EQ(RCL_RET_OK, rcl_client_fini(&client, this->node_ptr)); | ||||||
| } | ||||||
| } else { | ||||||
| EXPECT_TRUE(rcl_error_is_set()); | ||||||
| rcl_reset_error(); | ||||||
| } | ||||||
| }); | ||||||
| } | ||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -23,6 +23,7 @@ | |
| #include "rmw/rmw.h" | ||
| #include "rmw/validate_full_topic_name.h" | ||
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| #include "rcutils/testing/fault_injection.h" | ||
| #include "test_msgs/msg/basic_types.h" | ||
| #include "test_msgs/msg/strings.h" | ||
| #include "rosidl_runtime_c/string_functions.h" | ||
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@@ -1065,3 +1066,30 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip | |
| EXPECT_EQ(NULL, rcl_subscription_get_options(&subscription_zero_init)); | ||
| rcl_reset_error(); | ||
| } | ||
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| TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_init_fini_maybe_fail) | ||
| { | ||
| const rosidl_message_type_support_t * ts = | ||
| ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes); | ||
| constexpr char topic[] = "chatter"; | ||
| rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options(); | ||
| rcl_subscription_t subscription = rcl_get_zero_initialized_subscription(); | ||
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| RCUTILS_FAULT_INJECTION_TEST( | ||
| { | ||
| rcl_ret_t ret = rcl_subscription_init( | ||
| &subscription, this->node_ptr, ts, topic, &subscription_options); | ||
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| if (RCL_RET_OK == ret) { | ||
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There was a problem hiding this comment. @brawner same question and suggestion as above. There was a problem hiding this comment. Resolved similarly. |
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| EXPECT_TRUE(rcl_subscription_is_valid(&subscription)); | ||
| ret = rcl_subscription_fini(&subscription, this->node_ptr); | ||
| if (RCL_RET_OK != ret) { | ||
| // If fault injection caused fini to fail, we should try it again. | ||
| EXPECT_EQ(RCL_RET_OK, rcl_subscription_fini(&subscription, this->node_ptr)); | ||
| } | ||
| } else { | ||
| EXPECT_TRUE(rcl_error_is_set()); | ||
| rcl_reset_error(); | ||
| } | ||
| }); | ||
| } | ||
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@brawner hmm, what if no error is injected within
rcl_client_initbut one makes it intorcl_client_fini?There was a problem hiding this comment.
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I added a second
rcl_client_finiwith an appropriate check for this case.There was a problem hiding this comment.
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I will point out that coping with incidental fault injection this way can get cumbersome fast. That's why at some point I suggested disabling fault injection entirely for the duration of these post-call checks.
I won't block on this though.