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Merged
merged 14 commits into from
Jun 19, 2020
Merged

Improve subscription coverage #681

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e9f82da
Add bad argument tests for subscription.c
Blast545 Jun 11, 2020
8b00583
Add missing rcl_reset_error()
Blast545 Jun 12, 2020
621d3a3
Add test failing cyclone
Blast545 Jun 12, 2020
525d460
Disable test not working for rmw_cyclone_cpp
Blast545 Jun 12, 2020
86b4547
Add simple bad alloc test
Blast545 Jun 12, 2020
31d6684
Add tests enclave_name
Blast545 Jun 12, 2020
2e0f073
Revert "Add tests enclave_name"
Blast545 Jun 16, 2020
e145923
Move init/fini tests
Blast545 Jun 17, 2020
375dbf2
Add auxiliar testing class
Blast545 Jun 17, 2020
0446918
Reformat into smaller tests
Blast545 Jun 17, 2020
1a99fb0
Add checks ini/fini rmw messages
Blast545 Jun 17, 2020
62e6111
Add issue report for disabled test
Blast545 Jun 17, 2020
fa88846
Add assert for msg init
Blast545 Jun 17, 2020
3eb7cb7
Add bad_allocator test
Blast545 Jun 18, 2020
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147 changes: 147 additions & 0 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -528,3 +528,150 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options)

ASSERT_EQ(NULL, rcl_subscription_get_options(nullptr));
}

/* Using bad arguments subscription methods
*/
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_bad_argument) {
rcl_ret_t ret = RCL_RET_OK;
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "/chatter";
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_node_t invalid_node = rcl_get_zero_initialized_node();

size_t pub_count = 0;
test_msgs__msg__BasicTypes msg;
test_msgs__msg__BasicTypes__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__BasicTypes__fini(&msg);
});
rmw_message_info_t message_info = rmw_get_zero_initialized_message_info();
rcutils_allocator_t allocator = rcutils_get_default_allocator();
size_t seq_size = 3u;
rmw_message_sequence_t messages;
rmw_message_sequence_init(&messages, seq_size, &allocator);
rmw_message_info_sequence_t message_infos_short;
rmw_message_info_sequence_init(&message_infos_short, seq_size - 1u, &allocator);
rmw_message_info_sequence_t message_infos;
rmw_message_info_sequence_init(&message_infos, seq_size, &allocator);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rmw_message_info_sequence_fini(&message_infos);
rmw_message_info_sequence_fini(&message_infos_short);
rmw_message_sequence_fini(&messages);
});

rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
size_t initial_capacity_ser = 0u;
ASSERT_EQ(
RCL_RET_OK, rmw_serialized_message_init(
&serialized_msg, initial_capacity_ser, &allocator)) << rcl_get_error_string().str;

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID, rcl_subscription_get_publisher_count(nullptr, &pub_count));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(nullptr));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_options(nullptr));
rcl_reset_error();
EXPECT_EQ(RCL_RET_SUBSCRIPTION_INVALID, rcl_take(nullptr, &msg, &message_info, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_sequence(nullptr, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_serialized_message(nullptr, &serialized_msg, nullptr, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID, rcl_subscription_get_publisher_count(&subscription, &pub_count));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(&subscription));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(&subscription));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(&subscription));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(&subscription));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_options(&subscription));
rcl_reset_error();
EXPECT_EQ(RCL_RET_SUBSCRIPTION_INVALID, rcl_take(&subscription, &msg, &message_info, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_INVALID,
rcl_take_serialized_message(&subscription, &serialized_msg, nullptr, nullptr));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_NODE_INVALID,
rcl_subscription_init(&subscription, nullptr, ts, topic, &subscription_options));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_NODE_INVALID,
rcl_subscription_init(&subscription, &invalid_node, ts, topic, &subscription_options));
rcl_reset_error();

ret = rcl_subscription_init(
&subscription, this->node_ptr, ts, "spaced name", &subscription_options);
EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_subscription_init(
&subscription, this->node_ptr, ts, "sub{ros_not_match}", &subscription_options);
EXPECT_EQ(RCL_RET_TOPIC_NAME_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_take_sequence(&subscription, seq_size + 1, &messages, &message_infos, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_take_sequence(&subscription, seq_size, &messages, &message_infos_short, nullptr));
rcl_reset_error();

// This test fails for rmw_cyclonedds_cpp function rmw_take_sequence
/*
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED,
rcl_take_sequence(&subscription, seq_size, &messages, &message_infos, nullptr));
rcl_reset_error();
*/

EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED, rcl_take(&subscription, &msg, &message_info, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_SUBSCRIPTION_TAKE_FAILED,
rcl_take_serialized_message(&subscription, &serialized_msg, nullptr, nullptr));
rcl_reset_error();

ASSERT_TRUE(rcl_subscription_is_valid(&subscription));
ASSERT_FALSE(rcl_node_is_valid_except_context(&invalid_node));
EXPECT_EQ(nullptr, rcl_node_get_rmw_handle(&invalid_node));

EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, nullptr));
rcl_reset_error();
EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_subscription_fini(&subscription, &invalid_node));
rcl_reset_error();

ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}