8000 Improve subscription coverage by Blast545 · Pull Request #681 · ros2/rcl · GitHub
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Merged
merged 14 commits into from
Jun 19, 2020
Merged

Improve subscription coverage #681

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e9f82da
Add bad argument tests for subscription.c
Blast545 Jun 11, 2020
8b00583
Add missing rcl_reset_error()
Blast545 Jun 12, 2020
621d3a3
Add test failing cyclone
Blast545 Jun 12, 2020
525d460
Disable test not working for rmw_cyclone_cpp
Blast545 Jun 12, 2020
86b4547
Add simple bad alloc test
Blast545 Jun 12, 2020
31d6684
Add tests enclave_name
Blast545 Jun 12, 2020
2e0f073
Revert "Add tests enclave_name"
Blast545 Jun 16, 2020
e145923
Move init/fini tests
Blast545 Jun 17, 2020
375dbf2
Add auxiliar testing class
Blast545 Jun 17, 2020
0446918
Reformat into smaller tests
Blast545 Jun 17, 2020
1a99fb0
Add checks ini/fini rmw messages
Blast545 Jun 17, 2020
62e6111
Add issue report for disabled test
Blast545 Jun 17, 2020
fa88846
Add assert for msg init
Blast545 Jun 17, 2020
3eb7cb7
Add bad_allocator test
Blast545 Jun 18, 2020
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12 changes: 12 additions & 0 deletions rcl/test/rcl/test_expand_topic_name.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@

#include "rcl/error_handling.h"

#include "./allocator_testing_utils.h"

using namespace std::string_literals;

TEST(test_expand_topic_name, normal) {
Expand Down Expand Up @@ -121,6 +123,16 @@ TEST(test_expand_topic_name, invalid_arguments) {
rcl_reset_error();
}

// pass failing allocator
{
rcl_allocator_t bad_allocator = get_failing_allocator();
EXPECT_EQ(
RCL_RET_BAD_ALLOC,
rcl_expand_topic_name("/absolute", node, ns, &subs, bad_allocator, &expanded_topic));
EXPECT_STREQ(NULL, expanded_topic);
rcl_reset_error();
}

ret = rcutils_string_map_fini(&subs);
ASSERT_EQ(RCL_RET_OK, ret);
}
Expand Down
221 changes: 221 additions & 0 deletions rcl/test/rcl/test_subscription.cpp
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8000
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@
#include "rcl/error_handling.h"
#include "wait_for_entity_helpers.hpp"

#include "./allocator_testing_utils.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
Expand Down Expand Up @@ -78,6 +80,38 @@ class CLASSNAME (TestSubscriptionFixture, RMW_IMPLEMENTATION) : public ::testing
}
};

class CLASSNAME (TestSubscriptionFixtureInit, RMW_IMPLEMENTATION)
: public CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION)
{
public:
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "/chatter";
rcl_subscription_options_t subscription_options;
rcl_subscription_t subscription;
rcl_subscription_t subscription_zero_init;
rcl_ret_t ret;
rcutils_allocator_t allocator;

void SetUp() override
{
CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::SetUp();
allocator = rcutils_get_default_allocator();
subscription_options = rcl_subscription_get_default_options();
subscription = rcl_get_zero_initialized_subscription();
subscription_zero_init = rcl_get_zero_initialized_subscription();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void TearDown() override
{
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::TearDown();
}
};

/* Test subscription init, fini and is_valid functions
*/
TEST_F(
Expand Down Expand Up @@ -109,6 +143,56 @@ TEST_F(
rcl_reset_error();
}

// Bad arguments for init and fini
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_bad_init) {
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "/chatter";
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_node_t invalid_node = rcl_get_zero_initialized_node();

ASSERT_FALSE(rcl_node_is_valid_except_context(&invalid_node));
EXPECT_EQ(nullptr, rcl_node_get_rmw_handle(&invalid_node));

EXPECT_EQ(
RCL_RET_NODE_INVALID,
rcl_subscription_init(&subscription, nullptr, ts, topic, &subscription_options));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_NODE_INVALID,
rcl_subscription_init(&subscription, &invalid_node, ts, topic, &subscription_options));
rcl_reset_error();

rcl_ret_t ret = rcl_subscription_init(
&subscription, this->node_ptr, ts, "spaced name", &subscription_options);
EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_subscription_init(
&subscription, this->node_ptr, ts, "sub{ros_not_match}", &subscription_options);
EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();

rcl_subscription_options_t bad_subscription_options = rcl_subscription_get_default_options();
bad_subscription_options.allocator = get_failing_allocator();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &bad_subscription_options);

ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_TRUE(rcl_subscription_is_valid(&subscription));
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, nullptr));
rcl_reset_error();
EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, &invalid_node));
rcl_reset_error();

ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Basic nominal test of a subscription
*/
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
Expand Down Expand Up @@ -528,3 +612,140 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options)

ASSERT_EQ(NULL, rcl_subscription_get_options(nullptr));
}

/* bad take()
*/
TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take) {
test_msgs__msg__BasicTypes msg;
rmw_message_info_t message_info = rmw_get_zero_initialized_message_info();
ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&msg));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__BasicTypes__fini(&msg);
});
EXPECT_EQ(RCL_RET_SUBSCRIPTION_INVALID, rcl_take(nullptr, &msg, &message_info, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID, rcl_take(&subscription_zero_init, &msg 8000 , &message_info, nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED, rcl_take(&subscription, &msg, &message_info, nullptr));
rcl_reset_error();
}

/* bad take_serialized
*/
TEST_F(
CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION),
test_subscription_bad_take_serialized) {
rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
size_t initial_capacity_ser = 0u;
ASSERT_EQ(
RCL_RET_OK, rmw_serialized_message_init(
&serialized_msg, initial_capacity_ser, &allocator)) << rcl_get_error_string().str;

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_serialized_message(nullptr, &serialized_msg, nullptr, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_serialized_message(&subscription_zero_init, &serialized_msg, nullptr, nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED,
rcl_take_serialized_message(&subscription, &serialized_msg, nullptr, nullptr));
rcl_reset_error();
}

/* Bad arguments take_sequence
*/
TEST_F(
CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take_sequence)
{
size_t seq_size = 3u;
rmw_message_sequence_t messages;
ASSERT_EQ(RMW_RET_OK, rmw_message_sequence_init(&messages, seq_size, &allocator));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RMW_RET_OK, rmw_message_sequence_fini(&messages));
});
rmw_message_info_sequence_t message_infos_short;
ASSERT_EQ(
RMW_RET_OK, rmw_message_info_sequence_init(&message_infos_short, seq_size - 1u, &allocator));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RMW_RET_OK, rmw_message_info_sequence_fini(&message_infos_short));
});
rmw_message_info_sequence_t message_infos;
ASSERT_EQ(
RMW_RET_OK, rmw_message_info_sequence_init(&message_infos, seq_size, &allocator));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RMW_RET_OK, rmw_message_info_sequence_fini(&message_infos));
});

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_sequence(nullptr, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_sequence(&subscription_zero_init, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_take_sequence(&subscription, seq_size + 1, &messages, &message_infos, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_take_sequence(&subscription, seq_size, &messages, &message_infos_short, nullptr));
rcl_reset_error();

// This test fails for rmw_cyclonedds_cpp function rmw_take_sequence
// Tracked here: https://github.com/ros2/rmw_cyclonedds/issues/193
/*
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED,
rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();
*/
}

/* Using bad arguments subscription methods
*/
TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_argument) {
size_t pub_count = 0;

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID, rcl_subscription_get_publisher_count(nullptr, &pub_count));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(nullptr));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_options(nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_subscription_get_publisher_count(&subscription_zero_init, &pub_count));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(&subscription_zero_init));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_options(&subscription_zero_init));
rcl_reset_error();
}
0