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Merged
merged 24 commits into from
Aug 18, 2020
Merged

Add cov tests 95% #744

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f391200
Add mocking tools
Blast545 Aug 6, 2020
e60f44f
Add mocked tests fail init/fini
Blast545 Aug 6, 2020
4d11ecf
Reformat tests with helper macro
Blast545 Aug 7, 2020
226f21a
Fix returned value expected
Blast545 Aug 7, 2020
310b9f5
Add nullptr/invalid tests
Blast545 Aug 7, 2020
4d63f1c
Add domain_id mocked tests
Blast545 Aug 7, 2020
7171d71
Add mimick support for test_log_level
Blast545 Aug 7, 2020
85f95a0
Add fini/ini tests log_level
Blast545 Aug 7, 2020
8fd4d0e
Add fini nullptr test
Blast545 Aug 7, 2020
34c3ce8
Add mocked tests rmw_impl_id_check
Blast545 Aug 10, 2020
34d140e
Add tests log_level
Blast545 Aug 12, 2020
98cdcfc
Add bad_alloc test
Blast545 Aug 12, 2020
a6f8e99
Add ini/fini for size 0
Blast545 Aug 12, 2020
19a3842
Add tests add_logger_setting
Blast545 Aug 13, 2020
ffd0890
Add tests logger_settings
Blast545 Aug 13, 2020
19952df
Fix indentation
Blast545 Aug 13, 2020
6ad074c
Remove extra deallocation
Blast545 Aug 13, 2020
efb7585
Remove test
Blast545 Aug 13, 2020
bbe6241
Add comment on dummy operators added
Blast545 Aug 13, 2020
ecedb50
Change allocator call
Blast545 Aug 13, 2020
402b106
Change mock to inject on return
Blast545 Aug 13, 2020
4a7573a
Remove extra fini
Blast545 Aug 13, 2020
c4c9fb9
Replace allocation with captured rcutils_strdup
Blast545 Aug 13, 2020
0df49b9
Fix alpha order header
Blast545 Aug 14, 2020
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8 changes: 4 additions & 4 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ function(test_target_function)
SRCS rcl/test_init.cpp
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
)

Expand Down Expand Up @@ -288,7 +288,7 @@ function(test_target_function)
SRCS rcl/test_rmw_impl_id_check_func.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${PROJECT_NAME} mimick
AMENT_DEPENDENCIES ${rmw_implementation}
)

Expand Down Expand Up @@ -361,7 +361,7 @@ rcl_add_custom_gtest(test_validate_enclave_name
rcl_add_custom_gtest(test_domain_id
SRCS rcl/test_domain_id.cpp
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${PROJECT_NAME} mimick
)

rcl_add_custom_gtest(test_localhost
Expand Down Expand Up @@ -399,7 +399,7 @@ rcl_add_custom_gtest(test_common
rcl_add_custom_gtest(test_log_level
SRCS rcl/test_log_level.cpp
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${PROJECT_NAME} mimick
AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
)

Expand Down
12 changes: 12 additions & 0 deletions rcl/test/rcl/test_domain_id.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@
#include "rcl/error_handling.h"
#include "rcutils/env.h"

#include "../mocking_utils/patch.hpp"

TEST(TestGetDomainId, test_nominal) {
ASSERT_TRUE(rcutils_set_env("ROS_DOMAIN_ID", "42"));
size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
Expand Down Expand Up @@ -50,3 +52,13 @@ TEST(TestGetDomainId, test_nominal) {

EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_get_default_domain_id(nullptr));
}

TEST(TestGetDomainId, test_mock_get_default_domain_id) {
auto mock = mocking_utils::patch_and_return(
"lib:rcl", rcutils_get_env, "argument env_name is null");
size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
EXPECT_EQ(RCL_RET_ERROR, rcl_get_default_domain_id(&domain_id));
EXPECT_EQ(RCL_DEFAULT_DOMAIN_ID, domain_id);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
}
104 changes: 103 additions & 1 deletion rcl/test/rcl/test_init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include "rcutils/snprintf.h"

#include "./allocator_testing_utils.h"
#include "../mocking_utils/patch.hpp"
#include "../src/rcl/init_options_impl.h"

#ifdef RMW_IMPLEMENTATION
Expand Down Expand Up @@ -104,16 +105,34 @@ struct FakeTestArgv
*/
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_init) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());

// fini a not empty options
rcl_ret_t ret = rcl_init_options_fini(&init_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Expected usage
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});

// Already init
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// nullptr
ret = rcl_init_options_init(nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// nullptr
ret = rcl_init_options_fini(nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

/* Tests calling rcl_init() with invalid arguments fails.
Expand Down Expand Up @@ -364,6 +383,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id)

TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_access) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_init_options_t not_ini_init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
Expand All @@ -375,14 +395,21 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
ASSERT_NE(nullptr, options);
EXPECT_EQ(0u, options->instance_id);
EXPECT_EQ(nullptr, options->impl);
EXPECT_EQ(NULL, rcl_init_options_get_rmw_init_options(nullptr));
EXPECT_EQ(NULL, rcl_init_options_get_rmw_init_options(&not_ini_init_options));

const rcl_allocator_t * options_allocator = rcl_init_options_get_allocator(&init_options);
EXPECT_TRUE(rcutils_allocator_is_valid(options_allocator));
EXPECT_EQ(NULL, rcl_init_options_get_allocator(nullptr));
EXPECT_EQ(NULL, rcl_init_options_get_allocator(&not_ini_init_options));

size_t domain_id;
ret = rcl_init_options_get_domain_id(NULL, &domain_id);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_get_domain_id(&not_ini_init_options, &domain_id);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_get_domain_id(&init_options, NULL);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
Expand All @@ -392,6 +419,9 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
ret = rcl_init_options_set_domain_id(NULL, domain_id);
ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_init_options_set_domain_id(&not_ini_init_options, domain_id);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_init_options_get_domain_id(&init_options, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand All @@ -403,10 +433,82 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
EXPECT_EQ(0U, domain_id);

rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();

// nullptr copy cases
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_init_options_copy(nullptr, &init_options_dst));
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_init_options_copy(&init_options, nullptr));

// Expected usage copy
ASSERT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst));
ret = rcl_init_options_get_domain_id(&init_options_dst, &domain_id);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(0U, domain_id);
EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst));
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst));
}

// Define dummy comparison operators for rcutils_allocator_t type for use with the Mimick Library
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
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@hidmic hidmic Aug 13, 2020

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@Blast545 nit: same as below and other PRs, an explanatory comment is nice.

MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)

// Tests rcl_init_options_init() mocked to fail
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_ini) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_init, RMW_RET_ERROR);
EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_init(&init_options, rcl_get_default_allocator()));
rcl_reset_error();
}

// Tests rcl_init_options_fini() mocked to fail
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_fini) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
auto mock = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_ERROR);
EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_fini(&init_options));
rcl_reset_error();
}

// Mock rcl_init_options_copy to fail
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_copy_mocked_fail_fini) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
auto mock = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_ERROR);
EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_copy(&init_options, &init_options_dst));
rcl_reset_error();
}

// Mock rcl_init_options_copy to fail
TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_copy_fail_rmw_copy) {
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
// dst is in a invalid state after failed copy
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_init_options_fini(&init_options_dst)) << rcl_get_error_string().str;
rcl_reset_error();
});

// rmw_init_options_copy error is logged
auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_copy, RMW_RET_ERROR);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_init_options_copy(&init_options, &init_options_dst));
rcl_reset_error();
}
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