Add tests for rcl package

rcl/test/CMakeLists.txt

@@ -326,6 +326,18 @@ rcl_add_custom_gtest(test_validate_enclave_name
   LIBRARIES ${PROJECT_NAME}
 )
 
+rcl_add_custom_gtest(test_domain_id
+  SRCS rcl/test_domain_id.cpp
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  LIBRARIES ${PROJECT_NAME}
+)
+
+rcl_add_custom_gtest(test_localhost
+  SRCS rcl/test_localhost.cpp
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  LIBRARIES ${PROJECT_NAME}
+)
+
 rcl_add_custom_gtest(test_validate_topic_name
   SRCS rcl/test_validate_topic_name.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
@@ -352,6 +364,13 @@ rcl_add_custom_gtest(test_security
   AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
 )
 
+rcl_add_custom_gtest(test_common
+  SRCS rcl/test_common.cpp ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/common.c
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
+  LIBRARIES ${PROJECT_NAME}
+)
+
 # Install test resources
 install(DIRECTORY ${test_resources_dir_name}
         DESTINATION ${CMAKE_CURRENT_BINARY_DIR})

rcl/test/rcl/test_client.cpp

@@ -67,7 +67,7 @@ class TestClientFixture : public ::testing::Test
   }
 };
 
-/* Basic nominal test of a client.
+/* Basic nominal test of a client. Complete functionality tested at test_service.cpp
  */
 TEST_F(TestClientFixture, test_client_nominal) {
   rcl_ret_t ret;
@@ -82,6 +82,14 @@ TEST_F(TestClientFixture, test_client_nominal) {
     test_msgs, srv, BasicTypes);
   ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);
 
+  // Test access to client options
+  const rcl_client_options_t * client_internal_options = rcl_client_get_options(&client);
+  EXPECT_TRUE(rcutils_allocator_is_valid(&(client_internal_options->allocator)));
+  EXPECT_EQ(rmw_qos_profile_services_default.reliability, client_internal_options->qos.reliability);
+  EXPECT_EQ(rmw_qos_profile_services_default.history, client_internal_options->qos.history);
+  EXPECT_EQ(rmw_qos_profile_services_default.depth, client_internal_options->qos.depth);
+  EXPECT_EQ(rmw_qos_profile_services_default.durability, client_internal_options->qos.durability);
+
   // Check the return code of initialization and that the service name matches what's expected
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   EXPECT_EQ(strcmp(rcl_client_get_service_name(&client), expected_topic_name), 0);
@@ -144,6 +152,8 @@ TEST_F(TestClientFixture, test_client_init_fini) {
   ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &default_client_options);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   EXPECT_TRUE(rcl_client_is_valid(&client));
+  ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &default_client_options);
+  EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
   ret = rcl_client_fini(&client, this->node_ptr);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
@@ -206,3 +216,64 @@ TEST_F(TestClientFixture, test_client_init_fini) {
   EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 }
+
+/* Passing bad/invalid arguments to the functions
+ */
+TEST_F(TestClientFixture, test_client_bad_arguments) {
+  rcl_client_t client = rcl_get_zero_initialized_client();
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    test_msgs, srv, BasicTypes);
+  rcl_client_options_t default_client_options = rcl_client_get_default_options();
+
+  EXPECT_EQ(
+    RCL_RET_SERVICE_NAME_INVALID, rcl_client_init(
+      &client, this->node_ptr, ts,
+      "invalid name", &default_client_options)) << rcl_get_error_string().str;
+
+  EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_client_fini(&client, nullptr));
+  rcl_node_t not_valid_node = rcl_get_zero_initialized_node();
+  EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_client_fini(&client, &not_valid_node));
+
+  rmw_service_info_t header;
+  int64_t sequence_number = 24;
+  test_msgs__srv__BasicTypes_Response client_response;
+  test_msgs__srv__BasicTypes_Request client_request;
+  test_msgs__srv__BasicTypes_Request__init(&client_request);
+  test_msgs__srv__BasicTypes_Response__init(&client_response);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    test_msgs__srv__BasicTypes_Response__fini(&client_response);
+    test_msgs__srv__BasicTypes_Request__fini(&client_request);
+  });
+
+  EXPECT_EQ(nullptr, rcl_client_get_rmw_handle(nullptr));
+  EXPECT_EQ(nullptr, rcl_client_get_service_name(nullptr));
+  EXPECT_EQ(nullptr, rcl_client_get_service_name(nullptr));
+  EXPECT_EQ(nullptr, rcl_client_get_options(nullptr));
+  EXPECT_EQ(
+    RCL_RET_CLIENT_INVALID, rcl_take_response_with_info(
+      nullptr, &header, &client_response)) << rcl_get_error_string().str;
+  EXPECT_EQ(
+    RCL_RET_CLIENT_INVALID, rcl_take_response(
+      nullptr, &(header.request_id), &client_response)) << rcl_get_error_string().str;
+  EXPECT_EQ(
+    RCL_RET_CLIENT_INVALID, rcl_send_request(
+      nullptr, &client_request, &sequence_number)) << rcl_get_error_string().str;
+  EXPECT_EQ(24, sequence_number);
+
+  // Not init client
+  EXPECT_EQ(nullptr, rcl_client_get_rmw_handle(&client));
+  EXPECT_EQ(nullptr, rcl_client_get_service_name(&client));
+  EXPECT_EQ(nullptr, rcl_client_get_service_name(&client));
+  EXPECT_EQ(nullptr, rcl_client_get_options(&client));
+  EXPECT_EQ(
+    RCL_RET_CLIENT_INVALID, rcl_take_response_with_info(
+      &client, &header, &client_response)) << rcl_get_error_string().str;
+  EXPECT_EQ(
+    RCL_RET_CLIENT_INVALID, rcl_take_response(
+      &client, &(header.request_id), &client_response)) << rcl_get_error_string().str;
+  EXPECT_EQ(
+    RCL_RET_CLIENT_INVALID, rcl_send_request(
+      &client, &client_request, &sequence_number)) << rcl_get_error_string().str;
+  EXPECT_EQ(24, sequence_number);
+}

rcl/test/rcl/test_common.cpp

@@ -0,0 +1,34 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rcl/rcl.h"
+#include "./common.h"
+
+// This function is not part of the public API
+TEST(TestCommonFunctionality, test_rmw_ret_to_rcl_ret) {
+  EXPECT_EQ(RCL_RET_OK, rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_OK));
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_INVALID_ARGUMENT));
+  EXPECT_EQ(RCL_RET_BAD_ALLOC, rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_BAD_ALLOC));
+  EXPECT_EQ(RCL_RET_UNSUPPORTED, rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_UNSUPPORTED));
+  EXPECT_EQ(
+    RCL_RET_NODE_NAME_NON_EXISTENT,
+    rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_NODE_NAME_NON_EXISTENT));
+
+  // Default behavior
+  EXPECT_EQ(RCL_RET_ERROR, rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_ERROR));
+  EXPECT_EQ(RCL_RET_ERROR, rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_TIMEOUT));
+  EXPECT_EQ(RCL_RET_ERROR, rcl_convert_rmw_ret_to_rcl_ret(RMW_RET_INCORRECT_RMW_IMPLEMENTATION));
+}

rcl/test/rcl/test_domain_id.cpp

@@ -0,0 +1,36 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rcl/rcl.h"
+
+#include "rcl/domain_id.h"
+#include "rcl/error_handling.h"
+#include "rcutils/env.h"
+
+TEST(TestGetDomainId, test_nominal) {
+  ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "42"));
+  size_t domain_id = 0u;
+  EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
+  EXPECT_EQ(42u, domain_id);
+
+  ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "998446744073709551615"));
+  domain_id = 0u;
+  EXPECT_EQ(RCL_RET_ERROR, rcl_get_default_domain_id(&domain_id));
+  rcl_reset_error();
+  EXPECT_EQ(0u, domain_id);
+
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_get_default_domain_id(nullptr));
+}

rcl/test/rcl/test_localhost.cpp

@@ -0,0 +1,37 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rcl/rcl.h"
+#include "rcl/localhost.h"
+#include "rmw/localhost.h"
+#include "rcutils/env.h"
+
+TEST(TestLocalhost, test_get_localhost_only) {
+  ASSERT_TRUE(rcutils_set_env("ROS_LOCALHOST_ONLY", "0"));
+  rmw_localhost_only_t localhost_var;
+  EXPECT_EQ(RCL_RET_OK, rcl_get_localhost_only(&localhost_var));
+  EXPECT_EQ(RMW_LOCALHOST_ONLY_DISABLED, localhost_var);
+
+  ASSERT_TRUE(rcutils_set_env("ROS_LOCALHOST_ONLY", "1"));
+  EXPECT_EQ(RCL_RET_OK, rcl_get_localhost_only(&localhost_var));
+  EXPECT_EQ(RMW_LOCALHOST_ONLY_ENABLED, localhost_var);
+
+  ASSERT_TRUE(rcutils_set_env("ROS_LOCALHOST_ONLY", "2"));
+  EXPECT_EQ(RCL_RET_OK, rcl_get_localhost_only(&localhost_var));
+  EXPECT_EQ(RMW_LOCALHOST_ONLY_DISABLED, localhost_var);
+
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_get_localhost_only(nullptr));
+}

rcl/test/rcl/test_node.cpp

@@ -745,3 +745,48 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names) {
     EXPECT_EQ(RCL_RET_OK, ret);
   }
 }
+
+/* Tests the node_options functionality
+ */
+TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
+  rcl_node_options_t default_options = rcl_node_get_default_options();
+  rcl_node_options_t not_ini_options = rcl_node_get_default_options();
+
+  EXPECT_TRUE(default_options.use_global_arguments);
+  EXPECT_TRUE(default_options.enable_rosout);
+  EXPECT_EQ(RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID, default_options.domain_id);
+  EXPECT_TRUE(rcutils_allocator_is_valid(&(default_options.allocator)));
+
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(nullptr, &default_options));
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, nullptr));
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, &default_options));
+
+  const char * argv[] = {"--ros-args", "--loglevel", "foo"};
+  int argc = sizeof(argv) / sizeof(const char *);
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_parse_arguments(argc, argv, default_options.allocator, &(default_options.arguments)));
+  default_options.domain_id = 42u;
+  default_options.use_global_arguments = false;
+  default_options.enable_rosout = false;
+  EXPECT_EQ(RCL_RET_OK, rcl_node_options_copy(&default_options, &not_ini_options));
+  EXPECT_EQ(42u, not_ini_options.domain_id);
+  EXPECT_FALSE(not_ini_options.use_global_arguments);
+  EXPECT_FALSE(not_ini_options.enable_rosout);
+  EXPECT_EQ(
+    rcl_arguments_get_count_unparsed(&(default_options.arguments)),
+    rcl_arguments_get_count_unparsed(&(not_ini_options.arguments)));
+  EXPECT_EQ(
+    rcl_arguments_get_count_unparsed_ros(&(default_options.arguments)),
+    rcl_arguments_get_count_unparsed_ros(&(not_ini_options.arguments)));
+
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_fini(nullptr));
+  EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&default_options));
+  EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&not_ini_options));
+
+  // This causes the test suite to fail:
+  // rcl_node_options_t default_options = rcl_node_get_default_options();
+  // rcl_node_options_t not_ini_options;
+  // EXPECT_EQ(RCL_RET_OK, rcl_node_options_copy(&default_options, &not_ini_options));
+  // EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&not_ini_options)); <-- code fails, returns -11
+}