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Merged
merged 3 commits into from
Aug 31, 2020
Merged

Add fault injection macros and unit tests to rcl_lifecycle #731

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f2764d1
Add fault injection macros and unit tests to rcl_lifecycle
brawner Jul 28, 2020
86ac957
Address feedback
brawner Aug 27, 2020
c57f1cb
PR Fixup
brawner Aug 31, 2020
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10 changes: 10 additions & 0 deletions rcl_lifecycle/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,10 @@ rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(rcl_lifecycle PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")

if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
endif()

install(TARGETS rcl_lifecycle EXPORT rcl_lifecycle
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
Expand All @@ -78,6 +82,9 @@ if(BUILD_TESTING)
"osrf_testing_tools_cpp"
)
target_link_libraries(test_default_state_machine ${PROJECT_NAME})
target_compile_definitions(test_default_state_machine
PUBLIC RCUTILS_ENABLE_FAULT_INJECTION
)
endif()
ament_add_gtest(test_multiple_instances
test/test_multiple_instances.cpp
Expand All @@ -98,6 +105,9 @@ if(BUILD_TESTING)
"osrf_testing_tools_cpp"
)
target_link_libraries(test_rcl_lifecycle ${PROJECT_NAME})
target_compile_definitions(test_rcl_lifecycle
PUBLIC RCUTILS_ENABLE_FAULT_INJECTION
)
endif()
ament_add_gtest(test_transition_map
test/test_transition_map.cpp
Expand Down
3 changes: 3 additions & 0 deletions rcl_lifecycle/src/rcl_lifecycle.c
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Expand Up @@ -27,6 +27,7 @@ extern "C"
#include "rcl/error_handling.h"

#include "rcutils/logging_macros.h"
#include "rcutils/macros.h"
#include "rcutils/strdup.h"

#include "rcl_lifecycle/default_state_machine.h"
Expand Down Expand Up @@ -80,6 +81,8 @@ rcl_lifecycle_state_fini(
rcl_lifecycle_state_t * state,
const rcl_allocator_t * allocator)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);

if (!allocator) {
RCL_SET_ERROR_MSG("can't free state, no allocator given\n");
return RCL_RET_ERROR;
Expand Down
7 changes: 7 additions & 0 deletions rcl_lifecycle/src/transition_map.c
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Expand Up @@ -22,6 +22,7 @@ extern "C"
#include <string.h>

#include "rcl/error_handling.h"
#include "rcl/macros.h"
#include "rcutils/format_string.h"

#include "rcl_lifecycle/transition_map.h"
Expand Down Expand Up @@ -53,6 +54,7 @@ rcl_lifecycle_transition_map_fini(
rcl_lifecycle_transition_map_t * transition_map,
const rcutils_allocator_t * allocator)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
if (!allocator) {
RCL_SET_ERROR_MSG("can't free transition map, no allocator given\n");
return RCL_RET_ERROR;
Expand Down Expand Up @@ -85,6 +87,8 @@ rcl_lifecycle_register_state(
rcl_lifecycle_state_t state,
const rcutils_allocator_t * allocator)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);

if (rcl_lifecycle_get_state(transition_map, state.id) != NULL) {
RCL_SET_ERROR_MSG_WITH_FORMAT_STRING("state %u is already registered\n", state.id);
return RCL_RET_ERROR;
Expand Down Expand Up @@ -116,6 +120,9 @@ rcl_lifecycle_register_transition(
rcl_lifecycle_transition_t transition,
const rcutils_allocator_t * allocator)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);

RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
allocator, "invalid allocator", return RCL_RET_ERROR)

Expand Down
17 changes: 17 additions & 0 deletions rcl_lifecycle/test/test_default_state_machine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
#include "rcl/rcl.h"

#include "rcutils/logging_macros.h"
#include "rcutils/testing/fault_injection.h"

#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/default_state_machine.h"
Expand Down Expand Up @@ -833,3 +834,19 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
}

TEST_F(TestDefaultStateMachine, init_fini_maybe_fail) {
rcl_lifecycle_state_machine_t sm = rcl_lifecycle_get_zero_initialized_state_machine();
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_ret_t ret = rcl_lifecycle_init_default_state_machine(&sm, this->allocator);
if (RCL_RET_OK == ret) {
ret = rcl_lifecycle_state_machine_fini(&sm, this->node_ptr, this->allocator);
if (RCL_RET_OK != ret) {
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&sm, this->node_ptr, this->allocator));
}
}
});
}
65 changes: 59 additions & 6 deletions rcl_lifecycle/test/test_rcl_lifecycle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,12 @@
#include <gtest/gtest.h>

#include "rcl_lifecycle/rcl_lifecycle.h"

#include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
#include "rcutils/testing/fault_injection.h"

#include "lifecycle_msgs/msg/transition_event.h"
#include "lifecycle_msgs/srv/change_state.h"
#include "lifecycle_msgs/srv/get_available_states.h"
Expand Down Expand Up @@ -204,9 +207,9 @@ TEST(TestRclLifecycle, state_machine) {

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});

const rosidl_message_type_support_t * pn =
Expand Down Expand Up @@ -364,9 +367,9 @@ TEST(TestRclLifecycle, state_transitions) {

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});

const rosidl_message_type_support_t * pn =
Expand Down Expand Up @@ -436,3 +439,53 @@ TEST(TestRclLifecycle, state_transitions) {
ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
}

TEST(TestRclLifecycle, init_fini_maybe_fail) {
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_context_t context = rcl_get_zero_initialized_context();
rcl_node_options_t options = rcl_node_get_default_options();
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context));
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});

ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
const rosidl_service_type_support_t * cs =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, ChangeState);
const rosidl_service_type_support_t * gs =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetState);
const rosidl_service_type_support_t * gas =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableStates);
const rosidl_service_type_support_t * gat =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);
const rosidl_service_type_support_t * gtg =
ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetAvailableTransitions);

RCUTILS_FAULT_INJECTION_TEST(
{
// Init segfaults if this is not zero initialized
rcl_lifecycle_state_machine_t sm = rcl_lifecycle_get_zero_initialized_state_machine();

ret = rcl_lifecycle_state_machine_init(
&sm, &node, pn, cs, gs, gas, gat, gtg, true, &allocator);
if (RCL_RET_OK == ret) {
ret = rcl_lifecycle_state_machine_fini(&sm, &node, &allocator);
if (RCL_RET_OK != ret) {
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_state_machine_fini(&sm, &node, &allocator));
}
}
});
}