Add gid API test coverage. (#134)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Oct 21, 2020 · 450bda7 · 450bda7
1 parent 9e2f504
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diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt
@@ -99,6 +99,16 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_graph_api${target_suffix}
       osrf_testing_tools_cpp rcutils rmw rmw_implementation
     )
+
+    ament_add_gtest(test_unique_identifiers${target_suffix}
+      test/test_unique_identifiers.cpp
+      ENV ${rmw_implementation_env_var}
+    )
+    target_compile_definitions(test_unique_identifiers${target_suffix}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    ament_target_dependencies(test_unique_identifiers${target_suffix}
+      osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+    )
   endmacro()
 
   call_for_each_rmw_implementation(test_api)

diff --git a/test_rmw_implementation/test/test_unique_identifiers.cpp b/test_rmw_implementation/test/test_unique_identifiers.cpp
@@ -0,0 +1,223 @@
+// 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 "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "rcutils/allocator.h"
+#include "rcutils/strdup.h"
+
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+
+#include "test_msgs/msg/basic_types.h"
+
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+class CLASSNAME (TestUniqueIdentifierAPI, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    rmw_init_options_t init_options = rmw_get_zero_initialized_init_options();
+    rmw_ret_t ret = rmw_init_options_init(&init_options, rcutils_get_default_allocator());
+    ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      rmw_ret_t ret = rmw_init_options_fini(&init_options);
+      EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    });
+    init_options.enclave = rcutils_strdup("/", rcutils_get_default_allocator());
+    ASSERT_STREQ("/", init_options.enclave);
+    ret = rmw_init(&init_options, &context);
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    constexpr char node_name[] = "my_test_node";
+    constexpr char node_namespace[] = "/my_test_ns";
+    node = rmw_create_node(&context, node_name, node_namespace);
+    ASSERT_NE(nullptr, node) << rcutils_get_error_string().str;
+    rmw_publisher_options_t options = rmw_get_default_publisher_options();
+    constexpr char topic_name[] = "/test0";
+    pub = rmw_create_publisher(node, ts, topic_name, &qos_profile, &options);
+    ASSERT_NE(nullptr, pub) << rmw_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_publisher(node, pub);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_destroy_node(node);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_shutdown(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_context_fini(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  }
+
+  rmw_context_t context{rmw_get_zero_initialized_context()};
+  rmw_node_t * node{nullptr};
+  const rosidl_message_type_support_t * ts{
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes)};
+  rmw_qos_profile_t qos_profile{rmw_qos_profile_default};
+  rmw_publisher_t * pub{nullptr};
+};
+
+TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), get_gid_with_bad_args) {
+  rmw_gid_t gid{};
+  rmw_ret_t ret = rmw_get_gid_for_publisher(pub, &gid);
+  ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  rmw_gid_t expected_gid = gid;
+
+  ret = rmw_get_gid_for_publisher(nullptr, &gid);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+  bool gids_are_equal = false;
+  ret = rmw_compare_gids_equal(&expected_gid, &gid, &gids_are_equal);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_TRUE(gids_are_equal);
+
+  ret = rmw_get_gid_for_publisher(pub, nullptr);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+  gids_are_equal = false;
+  ret = rmw_compare_gids_equal(&expected_gid, &gid, &gids_are_equal);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_TRUE(gids_are_equal);
+
+  const char * implementation_identifier = pub->implementation_identifier;
+  pub->implementation_identifier = "not-an-rmw-implementation-identifier";
+  ret = rmw_get_gid_for_publisher(pub, &gid);
+  pub->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
+  rmw_reset_error();
+  gids_are_equal = false;
+  ret = rmw_compare_gids_equal(&expected_gid, &gid, &gids_are_equal);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_TRUE(gids_are_equal);
+}
+
+TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), compare_gids_with_bad_args) {
+  rmw_gid_t gid{};
+  rmw_ret_t ret = rmw_get_gid_for_publisher(pub, &gid);
+  ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  rmw_gid_t duplicate_gid = gid;
+
+  bool result = false;
+  ret = rmw_compare_gids_equal(nullptr, &duplicate_gid, &result);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+
+  ret = rmw_compare_gids_equal(&gid, nullptr, &result);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+
+  ret = rmw_compare_gids_equal(&gid, &duplicate_gid, nullptr);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+
+  const char * implementation_identifier = gid.implementation_identifier;
+  gid.implementation_identifier = "not-an-rmw-implementation-identifier";
+  ret = rmw_compare_gids_equal(&gid, &duplicate_gid, &result);
+  gid.implementation_identifier = implementation_identifier;
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
+  rmw_reset_error();
+
+  implementation_identifier = duplicate_gid.implementation_identifier;
+  duplicate_gid.implementation_identifier = "not-an-rmw-implementation-identifier";
+  ret = rmw_compare_gids_equal(&gid, &duplicate_gid, &result);
+  duplicate_gid.implementation_identifier = implementation_identifier;
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), compare_gids) {
+  rmw_gid_t gid{};
+  rmw_ret_t ret = rmw_get_gid_for_publisher(pub, &gid);
+  ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+
+  bool are_equal = false;
+  ret = rmw_compare_gids_equal(&gid, &gid, &are_equal);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_TRUE(are_equal);
+
+  are_equal = false;
+  rmw_gid_t duplicate_gid = gid;
+  ret = rmw_compare_gids_equal(&gid, &duplicate_gid, &are_equal);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_TRUE(are_equal);
+}
+
+class CLASSNAME (TestUniqueIdentifiersForMultiplePublishers, RMW_IMPLEMENTATION)
+  : public CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION)
+{
+protected:
+  using Base = CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION);
+  void SetUp() override
+  {
+    Base::SetUp();
+    rmw_publisher_options_t options = rmw_get_default_publisher_options();
+    constexpr char topic1_name[] = "/test0";
+    first_pub_for_topic1 = rmw_create_publisher(
+      node, ts, topic1_name, &qos_profile, &options);
+    ASSERT_NE(nullptr, first_pub_for_topic1) << rmw_get_error_string().str;
+    second_pub_for_topic1 = rmw_create_publisher(
+      node, ts, topic1_name, &qos_profile, &options);
+    ASSERT_NE(nullptr, second_pub_for_topic1) << rmw_get_error_string().str;
+    pub_for_topic0 = pub;  // reuse
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_publisher(node, second_pub_for_topic1);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_destroy_publisher(node, first_pub_for_topic1);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    Base::TearDown();
+  }
+
+  rmw_publisher_t * first_pub_for_topic1{nullptr};
+  rmw_publisher_t * second_pub_for_topic1{nullptr};
+  rmw_publisher_t * pub_for_topic0{nullptr};
+};
+
+TEST_F(CLASSNAME(TestUniqueIdentifiersForMultiplePublishers, RMW_IMPLEMENTATION), different_pubs) {
+  rmw_gid_t gid_of_pub_for_topic0{};
+  rmw_ret_t ret = rmw_get_gid_for_publisher(pub_for_topic0, &gid_of_pub_for_topic0);
+  ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+
+  rmw_gid_t gid_of_first_pub_for_topic1{};
+  ret = rmw_get_gid_for_publisher(first_pub_for_topic1, &gid_of_first_pub_for_topic1);
+  ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+
+  rmw_gid_t gid_of_second_pub_for_topic1{};
+  ret = rmw_get_gid_for_publisher(second_pub_for_topic1, &gid_of_second_pub_for_topic1);
+  ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+
+  bool are_equal = true;
+  ret = rmw_compare_gids_equal(&gid_of_pub_for_topic0, &gid_of_first_pub_for_topic1, &are_equal);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_FALSE(are_equal);
+
+  are_equal = true;
+  ret = rmw_compare_gids_equal(
+    &gid_of_first_pub_for_topic1, &gid_of_second_pub_for_topic1, &are_equal);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_FALSE(are_equal);
+}