Skip to content

Add coverage tests context functions #1321

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

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

Add coverage tests context functions #1321

Changes from 3 commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
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
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 8 additions & 9 deletions rclcpp/test/rclcpp/test_utilities.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "rcl/init.h"
#include "rcl/logging.h"

#include "rclcpp/scope_exit.hpp"

@brawner brawner Sep 21, 2020

Copy link
Copy Markdown
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

alphabetical ordering of headers, pls

@Blast545 Blast545 Sep 21, 2020

Copy link
Copy Markdown
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Sure f52f2ae

#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/utilities.hpp"
Expand Down Expand Up @@ -107,8 +108,9 @@ 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();
RCLCPP_SCOPE_EXIT(rclcpp::shutdown(context1););

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());
Expand Down Expand Up @@ -154,15 +156,12 @@ TEST(TestUtilities, test_context_release_interrupt_guard_condition) {
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);
}


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

{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
auto context_fail_init = std::make_shared<rclcpp::contexts::DefaultContext>();
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_init, RCL_RET_ERROR);
Expand All @@ -177,6 +176,7 @@ TEST(TestUtilities, test_context_init_shutdown_fails) {
}

{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
Expand All @@ -185,13 +185,15 @@ TEST(TestUtilities, test_context_init_shutdown_fails) {
}

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

{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_logging_fini, RCL_RET_ERROR);
Expand All @@ -204,9 +206,6 @@ TEST(TestUtilities, test_context_init_shutdown_fails) {
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();
});
EXPECT_NO_THROW({context_to_destroy.reset();});
}
}