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Merged
jacobperron merged 6 commits into from
Apr 10, 2019
Merged

Add more test cases for graph API + fix bug #404

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56da2c4
Add more test cases for graph API
jacobperron Mar 18, 2019
dbfa966
Increase timeout for Connext tests
jacobperron Mar 20, 2019
5a8597c
Refactor tests
jacobperron Apr 8, 2019
039e5fe
Add zero allocator tests
jacobperron Apr 8, 2019
686035e
Add TODOs for buggy tests
jacobperron Apr 8, 2019
3f07b44
Comment unused variable
jacobperron Apr 10, 2019
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9 changes: 5 additions & 4 deletions rcl/src/rcl/graph.c
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ rcl_get_publisher_names_and_types_by_node(
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
Expand Down Expand Up @@ -80,7 +80,7 @@ rcl_get_subscriber_names_and_types_by_node(
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
Expand Down Expand Up @@ -117,7 +117,7 @@ rcl_get_service_names_and_types_by_node(
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID;
}
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
Expand Down Expand Up @@ -152,7 +152,7 @@ rcl_get_topic_names_and_types(
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret;
rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types);
Expand All @@ -178,6 +178,7 @@ rcl_get_service_names_and_types(
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set
}
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
rmw_ret_t rmw_ret;
rmw_ret = rmw_names_and_types_check_zero(service_names_and_types);
Expand Down
2 changes: 1 addition & 1 deletion rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ function(test_target_function)
# TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
elseif(rmw_implementation STREQUAL "rmw_connext_cpp")
message(STATUS "Increasing test_graph${target_suffix} test timeout.")
set(AMENT_GTEST_ARGS TIMEOUT 90)
set(AMENT_GTEST_ARGS TIMEOUT 180)
endif()
rcl_add_custom_gtest(test_graph${target_suffix}
SRCS rcl/test_graph.cpp
Expand Down
224 changes: 221 additions & 3 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test

/* Test the rcl_get_topic_names_and_types and rcl_destroy_topic_names_and_types functions.
*
* This does not test content of the rcl_topic_names_and_types_t structure.
* This does not test content of the rcl_names_and_types_t structure.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
Expand Down Expand Up @@ -170,6 +170,47 @@ TEST_F(
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Test the rcl_get_service_names_and_types function.
*
* This does not test content of the rcl_names_and_types_t structure.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_service_names_and_types
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_names_and_types_t tnat {};
rcl_node_t zero_node = rcl_get_zero_initialized_node();
// invalid node
ret = rcl_get_service_names_and_types(nullptr, &allocator, &tnat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types(&zero_node, &allocator, &tnat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types(this->old_node_ptr, &allocator, &tnat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_service_names_and_types(this->node_ptr, nullptr, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid service_names_and_types
ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid argument to rcl_destroy_service_names_and_types
ret = rcl_names_and_types_fini(nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// valid calls
ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, &tnat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_names_and_types_fini(&tnat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Test the rcl_names_and_types_init function.
*/
TEST_F(
Expand Down Expand Up @@ -205,9 +246,186 @@ TEST_F(
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Test the rcl_get_publisher_names_and_types_by_node function.
*
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_publisher_names_and_types_by_node
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * node_name = "/test_rcl_get_publisher_names_and_types_by_node";
const char * node_ns = "/test/namespace";
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid node
ret = rcl_get_publisher_names_and_types_by_node(
nullptr, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
&zero_node, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
this->old_node_ptr, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, nullptr, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, nullptr, node_ns, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, node_name, nullptr, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// TODO(jacobperron): test valid strings with invalid topic names in them
// invalid names and types
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, node_name, node_ns, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node name
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// valid call
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

/* Test the rcl_get_subscriber_names_and_types_by_node function.
*
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_subscriber_names_and_types_by_node
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * node_name = "/test_rcl_get_subscriber_names_and_types_by_node";
const char * node_ns = "/test/namespace";
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid node
ret = rcl_get_subscriber_names_and_types_by_node(
nullptr, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
&zero_node, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
this->old_node_ptr, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, nullptr, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, nullptr, node_ns, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, node_name, nullptr, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// TODO(jacobperron): test valid strings with invalid topic names in them
// invalid names and types
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, node_name, node_ns, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node name
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// valid call
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

/* Test the rcl_get_service_names_and_types_by_node function.
*
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_service_names_and_types_by_node
) {
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_node_t zero_node = rcl_get_zero_initialized_node();
const char * node_name = "/test_rcl_get_service_names_and_types_by_node";
const char * node_ns = "/test/namespace";
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
// invalid node
ret = rcl_get_service_names_and_types_by_node(
nullptr, &allocator, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
&zero_node, &allocator, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
this->old_node_ptr, &allocator, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid allocator
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, nullptr, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// invalid names
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, nullptr, node_ns, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, node_name, nullptr, &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// TODO(jacobperron): test valid strings with invalid topic names in them
// invalid names and types
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, node_name, node_ns, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
// unknown node name
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, node_name, node_ns, &nat);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
rcl_reset_error();
// valid call
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

/* Test the rcl_count_publishers function.
*
* This does not test content the response.
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
Expand Down Expand Up @@ -244,7 +462,7 @@ TEST_F(

/* Test the rcl_count_subscribers function.
*
* This does not test content the response.
* This does not test content of the response.
*/
TEST_F(
CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
Expand Down