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Add coverage tests context functions (#1321)
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* Add basic tests context access
* Add expected interrupt_guard get/release
* Add mocking utilities to rclcpp
* Add tests interrupt_guard_condition
* Add tests ini/fini error context
* Add destructor test error
* Create context directly in block* Use scope exit to clean context

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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@Blast545
Blast545 authored Sep 22, 2020
1 parent 3defa8f commit 974772e
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Showing 2 changed files with 132 additions and 1 deletion.
2 changes: 1 addition & 1 deletion rclcpp/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -480,7 +480,7 @@ ament_add_gtest(test_utilities rclcpp/test_utilities.cpp
if(TARGET test_utilities)
ament_target_dependencies(test_utilities
"rcl")
target_link_libraries(test_utilities ${PROJECT_NAME})
target_link_libraries(test_utilities ${PROJECT_NAME} mimick)
endif()

ament_add_gtest(test_init rclcpp/test_init.cpp
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131 changes: 131 additions & 0 deletions rclcpp/test/rclcpp/test_utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,15 @@
#include <string>
#include <memory>

#include "rcl/init.h"
#include "rcl/logging.h"

#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/scope_exit.hpp"

#include "../mocking_utils/patch.hpp"

TEST(TestUtilities, remove_ros_arguments) {
const char * const argv[] = {
Expand Down Expand Up @@ -78,3 +84,128 @@ TEST(TestUtilities, multi_init) {
EXPECT_FALSE(rclcpp::ok(context1));
EXPECT_FALSE(rclcpp::ok(context2));
}

TEST(TestUtilities, test_context_basic_access) {
auto context1 = std::make_shared<rclcpp::contexts::DefaultContext>();
EXPECT_NE(nullptr, context1->get_init_options().get_rcl_init_options());
EXPECT_EQ(0u, context1->get_on_shutdown_callbacks().size());
EXPECT_EQ(std::string{""}, context1->shutdown_reason());
}

TEST(TestUtilities, test_context_basic_access_const_methods) {
auto context1 = std::make_shared<const rclcpp::contexts::DefaultContext>();

EXPECT_NE(nullptr, context1->get_init_options().get_rcl_init_options());
EXPECT_EQ(0u, context1->get_on_shutdown_callbacks().size());
// EXPECT_EQ(std::string{""}, context1->shutdown_reason()); not available for const
}

MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, ==)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, !=)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, >)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, <)

TEST(TestUtilities, test_context_release_interrupt_guard_condition) {
auto context1 = std::make_shared<rclcpp::contexts::DefaultContext>();
context1->init(0, nullptr);
RCLCPP_SCOPE_EXIT(rclcpp::shutdown(context1););

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(
&wait_set, 0, 2, 0, 0, 0, 0, context1->get_rcl_context().get(),
rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);

// Expected usage
rcl_guard_condition_t * interrupt_guard_condition =
context1->get_interrupt_guard_condition(&wait_set);
EXPECT_NE(nullptr, interrupt_guard_condition);
EXPECT_NO_THROW(context1->release_interrupt_guard_condition(&wait_set));

{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_guard_condition_init, RCL_RET_ERROR);
EXPECT_THROW(
{interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);},
rclcpp::exceptions::RCLError);
}

{
interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
EXPECT_THROW(
{context1->release_interrupt_guard_condition(&wait_set);},
rclcpp::exceptions::RCLError);
}

{
interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
EXPECT_NO_THROW({context1->release_interrupt_guard_condition(&wait_set, std::nothrow);});
}

{
EXPECT_THROW(
context1->release_interrupt_guard_condition(nullptr),
std::runtime_error);
}

// Test it works after restore mocks
interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);
EXPECT_NE(nullptr, interrupt_guard_condition);
EXPECT_NO_THROW(context1->release_interrupt_guard_condition(&wait_set));
}


TEST(TestUtilities, test_context_init_shutdown_fails) {
{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
auto context_fail_init = std::make_shared<rclcpp::contexts::DefaultContext>();
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_init, RCL_RET_ERROR);
EXPECT_THROW(context_fail_init->init(0, nullptr), rclcpp::exceptions::RCLError);
}

{
auto context_fail_init = std::make_shared<rclcpp::contexts::DefaultContext>();
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_logging_configure_with_output_handler, RCL_RET_ERROR);
EXPECT_THROW(context_fail_init->init(0, nullptr), rclcpp::exceptions::RCLError);
}

{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
// This will log a message, no throw expected
EXPECT_NO_THROW(context->shutdown(""));
}

{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_shutdown, RCL_RET_ERROR);
EXPECT_THROW(context->shutdown(""), rclcpp::exceptions::RCLError);
}

{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_logging_fini, RCL_RET_ERROR);
// This will log a message, no throw expected
EXPECT_NO_THROW(context->shutdown(""));
}

{
auto context_to_destroy = std::make_shared<rclcpp::contexts::DefaultContext>();
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
// This will log a message, no throw expected
EXPECT_NO_THROW({context_to_destroy.reset();});
}
}

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