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Add cov tests 95% (#744)
* Add mocking tools * Add mocked tests fail init/fini * Reformat tests with helper macro * Add nullptr/invalid tests * Add domain_id mocked tests * Add mimick support for test_log_level * Add fini/ini tests log_level * Add fini nullptr test * Add mocked tests rmw_impl_id_check * Add tests log_level * Add bad_alloc test * Add ini/fini for size 0 * Add tests add_logger_setting * Add tests logger_settings * Remove extra deallocation * Replace allocation with captured rcutils_strdup Signed-off-by: Jorge Perez <[email protected]>
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5 files changed

+399
-5
lines changed

5 files changed

+399
-5
lines changed

‎rcl/test/CMakeLists.txt‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -158,7 +158,7 @@ function(test_target_function)
158158
SRCS rcl/test_init.cpp
159159
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
160160
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
161-
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
161+
LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
162162
AMENT_DEPENDENCIES ${rmw_implementation}
163163
)
164164

@@ -288,7 +288,7 @@ function(test_target_function)
288288
SRCS rcl/test_rmw_impl_id_check_func.cpp
289289
ENV ${rmw_implementation_env_var}
290290
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
291-
LIBRARIES ${PROJECT_NAME}
291+
LIBRARIES ${PROJECT_NAME} mimick
292292
AMENT_DEPENDENCIES ${rmw_implementation}
293293
)
294294

@@ -361,7 +361,7 @@ rcl_add_custom_gtest(test_validate_enclave_name
361361
rcl_add_custom_gtest(test_domain_id
362362
SRCS rcl/test_domain_id.cpp
363363
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
364-
LIBRARIES ${PROJECT_NAME}
364+
LIBRARIES ${PROJECT_NAME} mimick
365365
)
366366

367367
rcl_add_custom_gtest(test_localhost
@@ -399,7 +399,7 @@ rcl_add_custom_gtest(test_common
399399
rcl_add_custom_gtest(test_log_level
400400
SRCS rcl/test_log_level.cpp
401401
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
402-
LIBRARIES ${PROJECT_NAME}
402+
LIBRARIES ${PROJECT_NAME} mimick
403403
AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
404404
)
405405

‎rcl/test/rcl/test_domain_id.cpp‎

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -20,6 +20,8 @@
2020
#include "rcl/error_handling.h"
2121
#include "rcutils/env.h"
2222

23+
#include "../mocking_utils/patch.hpp"
24+
2325
TEST(TestGetDomainId, test_nominal) {
2426
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "42"));
2527
size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
@@ -50,3 +52,13 @@ TEST(TestGetDomainId, test_nominal) {
5052

5153
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_get_default_domain_id(nullptr));
5254
}
55+
56+
TEST(TestGetDomainId, test_mock_get_default_domain_id) {
57+
auto mock = mocking_utils::patch_and_return(
58+
"lib:rcl", rcutils_get_env, "argument env_name is null");
59+
size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
60+
EXPECT_EQ(RCL_RET_ERROR, rcl_get_default_domain_id(&domain_id));
61+
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);
62+
EXPECT_TRUE(rcl_error_is_set());
63+
rcl_reset_error();
64+
}

‎rcl/test/rcl/test_init.cpp‎

Lines changed: 103 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -25,6 +25,7 @@
2525
#include "rcutils/snprintf.h"
2626

2727
#include "./allocator_testing_utils.h"
28+
#include "../mocking_utils/patch.hpp"
2829
#include "../src/rcl/init_options_impl.h"
2930

3031
#ifdef RMW_IMPLEMENTATION
@@ -104,16 +105,34 @@ struct FakeTestArgv
104105
*/
105106
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_init) {
106107
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
107-
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
108+
109+
// fini a not empty options
110+
rcl_ret_t ret = rcl_init_options_fini(&init_options);
111+
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
112+
rcl_reset_error();
113+
114+
// Expected usage
115+
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
108116
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
109117
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
110118
{
111119
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
112120
});
121+
113122
// Already init
114123
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
115124
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
116125
rcl_reset_error();
126+
127+
// nullptr
128+
ret = rcl_init_options_init(nullptr, rcl_get_default_allocator());
129+
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
130+
rcl_reset_error();
131+
132+
// nullptr
133+
ret = rcl_init_options_fini(nullptr);
134+
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
135+
rcl_reset_error();
117136
}
118137

119138
/* Tests calling rcl_init() with invalid arguments fails.
@@ -364,6 +383,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id)
364383

365384
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_access) {
366385
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
386+
rcl_init_options_t not_ini_init_options = rcl_get_zero_initialized_init_options();
367387
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
368388
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
369389
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
@@ -375,14 +395,21 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
375395
ASSERT_NE(nullptr, options);
376396
EXPECT_EQ(0u, options->instance_id);
377397
EXPECT_EQ(nullptr, options->impl);
398+
EXPECT_EQ(NULL, rcl_init_options_get_rmw_init_options(nullptr));
399+
EXPECT_EQ(NULL, rcl_init_options_get_rmw_init_options(&not_ini_init_options));
378400

379401
const rcl_allocator_t * options_allocator = rcl_init_options_get_allocator(&init_options);
380402
EXPECT_TRUE(rcutils_allocator_is_valid(options_allocator));
403+
EXPECT_EQ(NULL, rcl_init_options_get_allocator(nullptr));
404+
EXPECT_EQ(NULL, rcl_init_options_get_allocator(&not_ini_init_options));
381405

382406
size_t domain_id;
383407
ret = rcl_init_options_get_domain_id(NULL, &domain_id);
384408
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
385409
rcl_reset_error();
410+
ret = rcl_init_options_get_domain_id(&not_ini_init_options, &domain_id);
411+
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
412+
rcl_reset_error();
386413
ret = rcl_init_options_get_domain_id(&init_options, NULL);
387414
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
388415
rcl_reset_error();
@@ -392,6 +419,9 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
392419
ret = rcl_init_options_set_domain_id(NULL, domain_id);
393420
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
394421
rcl_reset_error();
422+
ret = rcl_init_options_set_domain_id(&not_ini_init_options, domain_id);
423+
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
424+
rcl_reset_error();
395425

396426
ret = rcl_init_options_get_domain_id(&init_options, &domain_id);
397427
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -403,10 +433,82 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
403433
EXPECT_EQ(0U, domain_id);
404434

405435
rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
436+
437+
// nullptr copy cases
438+
EXPECT_EQ(
439+
RCL_RET_INVALID_ARGUMENT, rcl_init_options_copy(nullptr, &init_options_dst));
440+
EXPECT_EQ(
441+
RCL_RET_INVALID_ARGUMENT, rcl_init_options_copy(&init_options, nullptr));
442+
443+
// Expected usage copy
406444
ASSERT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst));
407445
ret = rcl_init_options_get_domain_id(&init_options_dst, &domain_id);
408446
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
409447
EXPECT_EQ(0U, domain_id);
410448
EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst));
411449
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst));
412450
}
451+
452+
// Define dummy comparison operators for rcutils_allocator_t type for use with the Mimick Library
453+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
454+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
455+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
456+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
457+
458+
// Tests rcl_init_options_init() mocked to fail
459+
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_ini) {
460+
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
461+
auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_init, RMW_RET_ERROR);
462+
EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_init(&init_options, rcl_get_default_allocator()));
463+
rcl_reset_error();
464+
}
465+
466+
// Tests rcl_init_options_fini() mocked to fail
467+
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_fini) {
468+
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
469+
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
470+
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
471+
auto mock = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_ERROR);
472+
EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_fini(&init_options));
473+
rcl_reset_error();
474+
}
475+
476+
// Mock rcl_init_options_copy to fail
477+
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_copy_mocked_fail_fini) {
478+
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
479+
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
480+
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
481+
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
482+
{
483+
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
484+
});
485+
rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
486+
auto mock = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_ERROR);
487+
EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_copy(&init_options, &init_options_dst));
488+
rcl_reset_error();
489+
}
490+
491+
// Mock rcl_init_options_copy to fail
492+
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_copy_fail_rmw_copy) {
493+
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
494+
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
495+
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
496+
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
497+
{
498+
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
499+
});
500+
rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
501+
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
502+
{
503+
// dst is in a invalid state after failed copy
504+
EXPECT_EQ(
505+
RCL_RET_INVALID_ARGUMENT,
506+
rcl_init_options_fini(&init_options_dst)) << rcl_get_error_string().str;
507+
rcl_reset_error();
508+
});
509+
510+
// rmw_init_options_copy error is logged
511+
auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_copy, RMW_RET_ERROR);
512+
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_init_options_copy(&init_options, &init_options_dst));
513+
rcl_reset_error();
514+
}

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