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Merged
Blast545 merged 9 commits into from
Sep 22, 2020
Merged

Add coverage tests context functions #1321

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293458b
Add basic tests context access
Blast545 Sep 15, 2020
6a567dc
Add expected interrupt_guard get/release
Blast545 Sep 18, 2020
c462cf7
Add mocking utilities to rclcpp
Blast545 Sep 18, 2020
ba66fff
Add tests interrupt_guard_condition
Blast545 Sep 18, 2020
89bb416
Add tests ini/fini error context
Blast545 Sep 18, 2020
eb70a4b
Add destructor test error
Blast545 Sep 21, 2020
cbeae71
Create context directly in block
Blast545 Sep 21, 2020
ff35723
Use scope exit to clean context
Blast545 Sep 21, 2020
f52f2ae
Alpha order
Blast545 Sep 21, 2020
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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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132 changes: 132 additions & 0 deletions rclcpp/test/rclcpp/test_utilities.cpp
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Expand Up @@ -17,10 +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 "../mocking_utils/patch.hpp"

TEST(TestUtilities, remove_ros_arguments) {
const char * const argv[] = {
"process_name",
Expand Down Expand Up @@ -78,3 +83,130 @@ 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
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@brawner brawner Sep 18, 2020

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This seems like a method that should be const, I wonder if there is a better thread-safe way of setting the string in rclcpp::Context so it can be.

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@Blast545 Blast545 Sep 21, 2020

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I imagine it is not const because the shutdown_reason may change. But, in terms of this specific test, is odd that the method is not available for a const context. Not sure how to proceed here

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@brawner brawner Sep 21, 2020

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It looks like it's const because it has to lock the mutex. It might just be worth opening an issue and getting some input from others. I don't know whether it's worth investigating or if it's not an important use case.

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@Blast545 Blast545 Sep 21, 2020

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I opened #1323 to track the conversation. I didn't tag anyone as it might not be a priority at the moment, let me know if you think I should tag someone in particular.

}

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);
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));

rclcpp::shutdown(context1);
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@brawner brawner Sep 18, 2020

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Put this in a SCOPE_EXIT after you call init (if it doesn't make sense to put in Setup/Teardown)

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@Blast545 Blast545 Sep 21, 2020

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osrf_tools are not added to the rclcpp tests, it seems. Should I create a class for this particular test?

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@brawner brawner Sep 21, 2020

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No need to recreate. Fortunately rclcpp has it's own SCOPE_EXIT in rclcpp/scope_exit.hpp

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@Blast545 Blast545 Sep 21, 2020

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Cool, didn't know about it, see ff35723

}


TEST(TestUtilities, test_context_init_shutdown_fails) {
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
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{
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);
}

{
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(""));
}

{
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);
}

{
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.~rclcpp::Context();
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});
}
}