Add basic unit tests for refactored functions in rcl_yaml_param_parser (coverage part 1/3)

rcl_yaml_param_parser/CMakeLists.txt

@@ -58,6 +58,30 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   # Gtests
+  ament_add_gtest(test_namespace
+    test/test_namespace.cpp
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+  if(TARGET test_namespace)
+    ament_target_dependencies(test_namespace
+      "rcutils"
+      "osrf_testing_tools_cpp"
+    )
+    target_link_libraries(test_namespace ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(test_node_params
+    test/test_node_params.cpp
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+  if(TARGET test_node_params)
+    ament_target_dependencies(test_node_params
+      "rcutils"
+      "osrf_testing_tools_cpp"
+    )
+    target_link_libraries(test_node_params ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(test_parse_yaml
     test/test_parse_yaml.cpp
     WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
@@ -68,6 +92,18 @@ if(BUILD_TESTING)
       PRIVATE ${osrf_testing_tools_cpp_INCLUDE_DIRS})
   endif()
 
+  ament_add_gtest(test_parse
+    test/test_parse.cpp
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+  if(TARGET test_parse)
+    ament_target_dependencies(test_parse
+      "rcutils"
+      "osrf_testing_tools_cpp"
+    )
+    target_link_libraries(test_parse ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(test_parser
     test/test_parser.cpp
     WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
@@ -80,6 +116,18 @@ if(BUILD_TESTING)
     target_link_libraries(test_parser ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(test_yaml_variant
+    test/test_yaml_variant.cpp
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+  if(TARGET test_yaml_variant)
+    ament_target_dependencies(test_yaml_variant
+      "rcutils"
+      "osrf_testing_tools_cpp"
+    )
+    target_link_libraries(test_yaml_variant ${PROJECT_NAME})
+  endif()
+
 endif()
 
 ament_export_dependencies(ament_cmake libyaml_vendor)

rcl_yaml_param_parser/test/test_namespace.cpp

@@ -0,0 +1,106 @@
+// 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 <yaml.h>
+
+#include <string>
+#include <vector>
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "rcl_yaml_param_parser/parser.h"
+#include "../src/impl/namespace.h"
+#include "rcutils/allocator.h"
+#include "rcutils/strdup.h"
+
+TEST(TestNamespace, add_name_to_ns) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  namespace_tracker_t ns_tracker;
+  ns_tracker.node_ns = nullptr;
+  ns_tracker.parameter_ns = nullptr;
+  ns_tracker.num_node_ns = 0;
+  ns_tracker.num_parameter_ns = 0;
+
+  rcutils_ret_t ret = add_name_to_ns(&ns_tracker, nullptr, NS_TYPE_NODE, allocator);
+  EXPECT_EQ(RCUTILS_RET_INVALID_ARGUMENT, ret) << rcutils_get_error_string().str;
+  EXPECT_EQ(nullptr, ns_tracker.node_ns);
+
+  ret = add_name_to_ns(&ns_tracker, "node1", NS_TYPE_NODE, allocator);
+  EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
+  EXPECT_STREQ("node1", ns_tracker.node_ns);
+  EXPECT_EQ(1u, ns_tracker.num_node_ns);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(ns_tracker.node_ns, allocator.state);
+  });
+
+  ret = add_name_to_ns(&ns_tracker, "node2", NS_TYPE_NODE, allocator);
+  EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
+  EXPECT_STREQ("node1/node2", ns_tracker.node_ns);
+  EXPECT_EQ(2u, ns_tracker.num_node_ns);
+
+  ret = add_name_to_ns(&ns_tracker, "param1", NS_TYPE_PARAM, allocator);
+  EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
+  EXPECT_STREQ("param1", ns_tracker.parameter_ns);
+  EXPECT_EQ(1u, ns_tracker.num_parameter_ns);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(ns_tracker.parameter_ns, allocator.state);
+  });
+
+  ret = add_name_to_ns(&ns_tracker, "param2", NS_TYPE_PARAM, allocator);
+  EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
+  EXPECT_STREQ("param1.param2", ns_tracker.parameter_ns);
+  EXPECT_EQ(2u, ns_tracker.num_parameter_ns);
+}
+
+TEST(TestNamespace, replace_ns) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  namespace_tracker_t ns_tracker;
+  ns_tracker.node_ns = rcutils_strdup("initial_node1/initial_node2", allocator);
+  ASSERT_STREQ("initial_node1/initial_node2", ns_tracker.node_ns);
+  ns_tracker.parameter_ns = rcutils_strdup("initial_param1.initial_param2", allocator);
+  ASSERT_STREQ("initial_param1.initial_param2", ns_tracker.parameter_ns);
+  ns_tracker.num_node_ns = 2;
+  ns_tracker.num_parameter_ns = 2;
+
+  char * expected_ns = rcutils_strdup("new_ns1/new_ns2/new_ns3", allocator);
+  ASSERT_STREQ("new_ns1/new_ns2/new_ns3", expected_ns);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(ns_tracker.node_ns, allocator.state);
+    allocator.deallocate(ns_tracker.parameter_ns, allocator.state);
+    allocator.deallocate(expected_ns, allocator.state);
+  });
+
+  rcutils_ret_t ret =
+    replace_ns(&ns_tracker, expected_ns, 3, NS_TYPE_NODE, allocator);
+  EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
+  EXPECT_STREQ(expected_ns, ns_tracker.node_ns);
+  EXPECT_EQ(3u, ns_tracker.num_node_ns);
+
+  char * expected_param_ns =
+    rcutils_strdup("new_param1.new_param2.new_param3", allocator);
+  ASSERT_STREQ("new_param1.new_param2.new_param3", expected_param_ns);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(expected_param_ns, allocator.state);
+  });
+
+  ret = replace_ns(&ns_tracker, expected_param_ns, 3, NS_TYPE_PARAM, allocator);
+  EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
+  EXPECT_STREQ(expected_param_ns, ns_tracker.parameter_ns);
+  EXPECT_EQ(3u, ns_tracker.num_parameter_ns);
+}

rcl_yaml_param_parser/test/test_node_params.cpp

@@ -0,0 +1,42 @@
+// 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 <yaml.h>
+
+#include <string>
+#include <vector>
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "rcl_yaml_param_parser/parser.h"
+#include "../src/impl/node_params.h"
+#include "rcutils/allocator.h"
+
+TEST(TestNodeParams, init_fini) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_node_params_t node_params = {NULL, NULL, 0u};
+  EXPECT_EQ(RCUTILS_RET_OK, node_params_init(&node_params, allocator));
+  EXPECT_NE(nullptr, node_params.parameter_names);
+  EXPECT_NE(nullptr, node_params.parameter_values);
+  EXPECT_EQ(0u, node_params.num_params);
+  rcl_yaml_node_params_fini(&node_params, allocator);
+  EXPECT_EQ(nullptr, node_params.parameter_names);
+  EXPECT_EQ(nullptr, node_params.parameter_values);
+  EXPECT_EQ(0u, node_params.num_params);
+
+  // This function doesn't return anything, so just check it doesn't segfault on the second try
+  rcl_yaml_node_params_fini(&node_params, allocator);
+  rcl_yaml_node_params_fini(nullptr, allocator);
+}