Fault injection tests for rcl_yaml

Signed-off-by: Stephen Brawner <[email protected]>

Author: brawner

rcl_yaml_param_parser/CMakeLists.txt

@@ -67,6 +67,7 @@ if(BUILD_TESTING)
       "rcutils"
       "osrf_testing_tools_cpp"
     )
+    target_compile_definitions(test_namespace PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
     target_link_libraries(test_namespace ${PROJECT_NAME})
   endif()
 
@@ -79,6 +80,7 @@ if(BUILD_TESTING)
       "rcutils"
       "osrf_testing_tools_cpp"
     )
+    target_compile_definitions(test_node_params PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
     target_link_libraries(test_node_params ${PROJECT_NAME})
   endif()
 
@@ -101,6 +103,7 @@ if(BUILD_TESTING)
       "rcutils"
       "osrf_testing_tools_cpp"
     )
+    target_compile_definitions(test_parse PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
     target_link_libraries(test_parse ${PROJECT_NAME} mimick)
   endif()
 
@@ -114,6 +117,7 @@ if(BUILD_TESTING)
       "osrf_testing_tools_cpp"
     )
     target_link_libraries(test_parser ${PROJECT_NAME})
+    target_compile_definitions(test_parser PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 
   ament_add_gtest(test_yaml_variant
@@ -125,6 +129,7 @@ if(BUILD_TESTING)
       "rcutils"
       "osrf_testing_tools_cpp"
     )
+    target_compile_definitions(test_yaml_variant PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
     target_link_libraries(test_yaml_variant ${PROJECT_NAME})
   endif()
 

rcl_yaml_param_parser/test/test_namespace.cpp

@@ -96,3 +96,52 @@ TEST(TestNamespace, replace_ns) {
   EXPECT_STREQ(expected_param_ns, ns_tracker.parameter_ns);
   EXPECT_EQ(3u, ns_tracker.num_parameter_ns);
 }
+
+TEST(TestNamespace, replace_ns_maybe_fail) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  namespace_tracker_t ns_tracker;
+  ns_tracker.node_ns = rcutils_strdup("node1/node2", allocator);
+  ASSERT_STREQ("node1/node2", ns_tracker.node_ns);
+  ns_tracker.parameter_ns = rcutils_strdup("param1.param2", allocator);
+  ASSERT_STREQ("param1.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(expected_ns, allocator.state);
+  });
+
+  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);
+  });
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcutils_ret_t ret =
+    replace_ns(&ns_tracker, expected_ns, 3, NS_TYPE_NODE, allocator);
+    if (RCUTILS_RET_OK != ret) {
+      EXPECT_EQ(nullptr, ns_tracker.node_ns);
+      rcutils_reset_error();
+    } else {
+      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);
+    }
+
+    ret = replace_ns(&ns_tracker, expected_param_ns, 3, NS_TYPE_PARAM, allocator);
+    if (RCUTILS_RET_OK != ret) {
+      EXPECT_EQ(nullptr, ns_tracker.parameter_ns);
+      rcutils_reset_error();
+    } else {
+      EXPECT_STREQ(expected_param_ns, ns_tracker.parameter_ns);
+      EXPECT_EQ(3u, ns_tracker.num_parameter_ns);
+    }
+  });
+}

rcl_yaml_param_parser/test/test_parser.cpp

@@ -12,11 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "gtest/gtest.h"
+#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 "rcutils/error_handling.h"
 #include "rcutils/filesystem.h"
+#include "rcutils/testing/fault_injection.h"
 #include "./time_bomb_allocator_testing_utils.h"
 
 TEST(RclYamlParamParser, node_init_fini) {
@@ -308,54 +315,55 @@ TEST(RclYamlParamParser, test_parse_file_with_bad_allocator) {
   {
     allocator.deallocate(test_path, allocator.state);
   });
-  char * path = rcutils_join_path(test_path, "correct_config.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
-
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_TRUE(rcl_parse_yaml_file(path, params_hdl));
-  rcl_yaml_node_struct_fini(params_hdl);
-  params_hdl = NULL;
-
-  // Check sporadic failing malloc calls
-  for (int i = 0; i < 100; ++i) {
-    params_hdl = rcl_yaml_node_struct_init(get_time_bomb_allocator());
-    ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-
-    set_time_bomb_allocator_malloc_count(params_hdl->allocator, i);
-    bool res = rcl_parse_yaml_file(path, params_hdl);
-    // Not verifying res is true or false here, because eventually it will come back with an ok
-    // result. We're just trying to make sure that bad allocations are properly handled
-    if (res) {
-      // This is already freed in the case of a non-ok error in rcl_parse_yaml_file
-      rcl_yaml_node_struct_fini(params_hdl);
-      params_hdl = NULL;
-    }
-  }
 
-  // Check sporadic failing calloc calls
-  for (int i = 0; i < 100; ++i) {
-    params_hdl = rcl_yaml_node_struct_init(get_time_bomb_allocator());
-    ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-
-    set_time_bomb_allocator_calloc_count(params_hdl->allocator, i);
-
-    bool res = rcl_parse_yaml_file(path, params_hdl);
-    // Not verifying res is true or false here, because eventually it will come back with an ok
-    // result. We're just trying to make sure that bad allocations are properly handled
-    if (res) {
-      // This is already freed in the case of a non-ok error in rcl_parse_yaml_file
-      rcl_yaml_node_struct_fini(params_hdl);
-      params_hdl = NULL;
-    }
+  const std::vector<std::string> filenames = {
+    "correct_config.yaml",
+    "empty_string.yaml",
+    "indented_name_space.yaml",
+    "max_num_params.yaml",
+    "multi_ns_correct.yaml",
+    "no_alias_support.yaml",
+    "no_value1.yaml",
+    "overlay.yaml",
+    "params_with_no_node.yaml",
+    "root_ns.yaml",
+    "seq_map1.yaml",
+    "seq_map2.yaml",
+    "string_array_with_quoted_number.yaml"
+  };
+
+  for (auto & filename : filenames) {
+    char * path = rcutils_join_path(test_path, filename.c_str(), allocator);
+    std::cout << "Reading: " << path << std::endl;
+    ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      allocator.deallocate(path, allocator.state);
+    });
+    ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
+
+    // Check sporadic failing malloc calls
+    RCUTILS_FAULT_INJECTION_TEST(
+    {
+      rcutils_allocator_t allocator = rcutils_get_default_allocator();
+      rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+      if (NULL == params_hdl) {
+        continue;
+      }
+
+      bool res = rcl_parse_yaml_file(path, params_hdl);
+      // Not verifying res is true or false here, because eventually it will come back with an ok
+      // result. We're just trying to make sure that bad allocations are properly handled
+
+      if (res) {
+        // This is already freed in the case of a non-ok error in rcl_parse_yaml_file
+        rcl_yaml_node_struct_fini(params_hdl);
+        params_hdl = NULL;
+      }
+    });
   }
 }
 
-
 int32_t main(int32_t argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);