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Add test coverage for name mangling and namespacing-specific API. #388

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merged 4 commits into from
May 27, 2020
Merged

Add test coverage for name mangling and namespacing-specific API. #388

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5029e4f
Change namespacing-specific API visibility.
hidmic May 26, 2020
2a0acb3
Add test coverage for name mangling and namespacing-specific API.
hidmic May 18, 2020
e0fe9ca
Simplify namespacing utilities implementation.
hidmic May 26, 2020
bb21fc4
Drop death tests matchers.
hidmic May 26, 2020
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2 changes: 2 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/names.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,8 @@ _create_topic_name(
const char * base,
const char * suffix = nullptr)
{
assert(qos_profile);
assert(base);
if (qos_profile->avoid_ros_namespace_conventions) {
prefix = nullptr;
}
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4 changes: 4 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp
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Expand Up @@ -36,18 +36,22 @@ RMW_FASTRTPS_SHARED_CPP_PUBLIC extern const std::vector<std::string> _ros_prefix
* \return name stripped of prefix, or
* \return "" if name doesn't start with prefix
*/
RMW_FASTRTPS_SHARED_CPP_PUBLIC
std::string
_resolve_prefix(const std::string & name, const std::string & prefix);

/// Return the ROS specific prefix if it exists, otherwise "".
RMW_FASTRTPS_SHARED_CPP_PUBLIC
std::string
_get_ros_prefix_if_exists(const std::string & topic_name);

/// Returns the topic name stripped of and ROS specific prefix if exists.
RMW_FASTRTPS_SHARED_CPP_PUBLIC
std::string
_strip_ros_prefix_if_exists(const std::string & topic_name);

/// Returns the list of ros prefixes
RMW_FASTRTPS_SHARED_CPP_PUBLIC
const std::vector<std::string> &
_get_all_ros_prefixes();
#endif // RMW_FASTRTPS_SHARED_CPP__NAMESPACE_PREFIX_HPP_
18 changes: 12 additions & 6 deletions rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp
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Expand Up @@ -31,8 +31,10 @@ const std::vector<std::string> _ros_prefixes =
std::string
_resolve_prefix(const std::string & name, const std::string & prefix)
{
if (name.rfind(prefix, 0) == 0 && name.at(prefix.length()) == '/') {
return name.substr(prefix.length());
if (name.length() > prefix.length()) {
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Coming back with fresh eyes on this one, I think this can all be simplified down to:

if (name.rfind(prefix + "/", 0)) {
  return name.substr(prefix.length());
}

Same thing with the functions below.

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That is correct. Fixed in e0fe9ca.

if (name.rfind(prefix, 0) == 0 && name.at(prefix.length()) == '/') {
return name.substr(prefix.length());
}
}
return "";
}
Expand All @@ -42,8 +44,10 @@ std::string
_get_ros_prefix_if_exists(const std::string & topic_name)
{
for (const auto & prefix : _ros_prefixes) {
if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
return prefix;
if (topic_name.length() > prefix.length()) {
if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
return prefix;
}
}
}
return "";
Expand All @@ -54,8 +58,10 @@ std::string
_strip_ros_prefix_if_exists(const std::string & topic_name)
{
for (const auto & prefix : _ros_prefixes) {
if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
return topic_name.substr(prefix.length());
if (topic_name.length() > prefix.length()) {
if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
return topic_name.substr(prefix.length());
}
}
}
return topic_name;
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6 changes: 6 additions & 0 deletions rmw_fastrtps_shared_cpp/test/CMakeLists.txt
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Expand Up @@ -23,3 +23,9 @@ ament_add_gtest(test_guid_utils test_guid_utils.cpp)
if(TARGET test_guid_utils)
target_link_libraries(test_guid_utils ${PROJECT_NAME})
endif()

ament_add_gtest(test_names test_names.cpp)
if(TARGET test_names)
ament_target_dependencies(test_names rmw)
target_link_libraries(test_names ${PROJECT_NAME})
endif()
90 changes: 90 additions & 0 deletions rmw_fastrtps_shared_cpp/test/test_names.cpp
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@@ -0,0 +1,90 @@
// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "gtest/gtest.h"

#include "rmw/qos_profiles.h"

#include "rmw_fastrtps_shared_cpp/names.hpp"
#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"

TEST(NamespaceTest, get_prefix) {
EXPECT_EQ("", _get_ros_prefix_if_exists(""));
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Add tests for:

  • non-empty string with no prefix
  • string with prefix but not matching '/', (i.e "rr_should_not_match")
  • string where the prefix shows up elsewhere, but '/' is in the right place i.e. ("al/so_should_not_match_rr")

Substituting 'rr' with variable 'prefix' in your loop.

I think these same tests apply to the TEST blocks below as well.

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Done in b029a31.

EXPECT_EQ("", _get_ros_prefix_if_exists("not/a_ros_prefix"));
for (const auto & prefix : _get_all_ros_prefixes()) {
EXPECT_EQ("", _get_ros_prefix_if_exists(prefix));
EXPECT_EQ("", _get_ros_prefix_if_exists(prefix + "_should_not_match"));
EXPECT_EQ("", _get_ros_prefix_if_exists("th/is_should_not_match/" + prefix));
EXPECT_EQ(prefix, _get_ros_prefix_if_exists(prefix + "/"));
EXPECT_EQ(prefix, _get_ros_prefix_if_exists(prefix + "/should_match"));
}
}

TEST(NamespaceTest, strip_prefix) {
EXPECT_EQ("", _strip_ros_prefix_if_exists(""));
EXPECT_EQ("/no_ros_prefix/test", _strip_ros_prefix_if_exists("/no_ros_prefix/test"));
for (const auto & prefix : _get_all_ros_prefixes()) {
EXPECT_EQ(prefix, _strip_ros_prefix_if_exists(prefix));
EXPECT_EQ("/", _strip_ros_prefix_if_exists(prefix + "/"));
EXPECT_EQ(
prefix + "should_not_be_stripped",
_strip_ros_prefix_if_exists(prefix + "should_not_be_stripped"));
EXPECT_EQ(
"th/is_should_not_be_stripped/" + prefix,
_strip_ros_prefix_if_exists("th/is_should_not_be_stripped/" + prefix));
EXPECT_EQ("/should_be_stripped", _strip_ros_prefix_if_exists(prefix + "/should_be_stripped"));
}
}

TEST(NamespaceTest, resolve_prefix) {
EXPECT_EQ("", _resolve_prefix("", ""));
EXPECT_EQ("", _resolve_prefix("", "some_ros_prefix"));
EXPECT_EQ("", _resolve_prefix("/test", "some_ros_prefix"));
EXPECT_EQ("/test", _resolve_prefix("/test", ""));
EXPECT_EQ("", _resolve_prefix("some_ros_prefix", "some_ros_prefix"));
EXPECT_EQ("/", _resolve_prefix("some_ros_prefix/", "some_ros_prefix"));
EXPECT_EQ(
"/test_some_ros_prefix",
_resolve_prefix("some_ros_prefix/test_some_ros_prefix", "some_ros_prefix"));
EXPECT_EQ(
"", _resolve_prefix("some_ros_prefix_test", "some_ros_prefix"));
EXPECT_EQ(
"", _resolve_prefix("this_ros_prefix/test/some_ros_prefix", "some_ros_prefix"));
}

TEST(NamespaceTest, name_mangling) {
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Add tests for if arguments are nullptrs.

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Good catch, had to add a few assert to avoid segfaults. See b029a31.

rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
qos_profile.avoid_ros_namespace_conventions = false;

EXPECT_DEATH(_create_topic_name(nullptr, "", "", ""), "qos_profile");

EXPECT_DEATH(_create_topic_name(&qos_profile, "", nullptr, ""), "base");

EXPECT_STREQ(
"some_ros_prefix/test__suffix", _create_topic_name(
&qos_profile, "some_ros_prefix", "/test", "__suffix").c_str());

EXPECT_STREQ(
"/test__suffix", _create_topic_name(
&qos_profile, nullptr, "/test", "__suffix").c_str());

EXPECT_STREQ(
"some_ros_prefix/test", _create_topic_name(
&qos_profile, "some_ros_prefix", "/test", nullptr).c_str());

qos_profile.avoid_ros_namespace_conventions = true;
EXPECT_STREQ(
"/test__suffix", _create_topic_name(
&qos_profile, "some_ros_prefix", "/test", "__suffix").c_str());
}