[Backport Foxy] Increase code coverage and some fixes

rcl/CMakeLists.txt

@@ -47,6 +47,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/localhost.c
   src/rcl/logging_rosout.c
   src/rcl/logging.c
+  src/rcl/log_level.c
   src/rcl/node.c
   src/rcl/node_options.c
   src/rcl/publisher.c
@@ -83,6 +84,10 @@ ament_target_dependencies(${PROJECT_NAME}
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
 rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
 
+if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
+endif()
+
 install(
   TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib

rcl/include/rcl/arguments.h

@@ -16,6 +16,7 @@
 #define RCL__ARGUMENTS_H_
 
 #include "rcl/allocator.h"
+#include "rcl/log_level.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
@@ -77,9 +78,9 @@ rcl_get_zero_initialized_arguments(void);
  * Parameter override rule parsing is supported via `-p/--param` flags e.g. `--param name:=value`
  * or `-p name:=value`.
  *
- * The default log level will be parsed as `--log-level level`, where `level` is a name
- * representing one of the log levels in the `RCUTILS_LOG_SEVERITY` enum, e.g. `info`, `debug`,
- * `warn`, not case sensitive.
+ * The default log level will be parsed as `--log-level level` and logger levels will be parsed as
+ * multiple `--log-level name:=level`, where `level` is a name representing one of the log levels
+ * in the `RCUTILS_LOG_SEVERITY` enum, e.g. `info`, `debug`, `warn`, not case sensitive.
  * If multiple of these rules are found, the last one parsed will be used.
  *
  * If an argument does not appear to be a valid ROS argument e.g. a `-r/--remap` flag followed by
@@ -343,6 +344,32 @@ rcl_remove_ros_arguments(
   int * nonros_argc,
   const char ** nonros_argv[]);
 
+/// Return log levels parsed from the command line.
+/**
+ * Log levels are parsed directly from command line arguments.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] arguments An arguments structure that has been parsed.
+ * \param[out] log_levels Log levels as parsed from command line arguments.
+ *   The output must be finished by the caller if the function successes.
+ * \return `RCL_RET_OK` if everything goes correctly, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_arguments_get_log_levels(
+  const rcl_arguments_t * arguments,
+  rcl_log_levels_t * log_levels);
+
 /// Copy one arguments structure into another.
 /**
  * <hr>

rcl/include/rcl/event.h

@@ -39,6 +39,7 @@ typedef enum rcl_subscription_event_type_t
   RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
   RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
   RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS,
+  RCL_SUBSCRIPTION_MESSAGE_LOST,
 } rcl_subscription_event_type_t;
 
 /// rmw struct.
@@ -170,6 +171,28 @@ RCL_WARN_UNUSED
 rmw_event_t *
 rcl_event_get_rmw_handle(const rcl_event_t * event);
 
+/// Check that the event is valid.
+/**
+ * The bool returned is `false` if `event` is invalid.
+ * The bool returned is `true` otherwise.
+ * In the case where `false` is to be returned, an error message is set.
+ * This function cannot fail.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] event pointer to the rcl event
+ * \return `true` if `event` is valid, otherwise `false`
+ */
+RCL_PUBLIC
+bool
+rcl_event_is_valid(const rcl_event_t * event);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/log_level.h

@@ -0,0 +1,191 @@
+// 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.
+
+#ifndef RCL__LOG_LEVEL_H_
+#define RCL__LOG_LEVEL_H_
+
+#include "rcl/allocator.h"
+#include "rcl/macros.h"
+#include "rcl/types.h"
+#include "rcl/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// typedef for RCUTILS_LOG_SEVERITY;
+typedef enum RCUTILS_LOG_SEVERITY rcl_log_severity_t;
+
+/// A logger item to specify a name and a log level.
+typedef struct rcl_logger_setting_t
+{
+  /// Name for the logger.
+  const char * name;
+  /// Minimum log level severity of the logger.
+  rcl_log_severity_t level;
+} rcl_logger_setting_t;
+
+/// Hold default logger level and other logger setting.
+typedef struct rcl_log_levels_t
+{
+  /// Minimum default logger level severity.
+  rcl_log_severity_t default_logger_level;
+  /// Array of logger setting.
+  struct rcl_logger_setting_t * logger_settings;
+  /// Number of logger settings.
+  size_t num_logger_settings;
+  /// Capacity of logger settings.
+  size_t capacity_logger_settings;
+  /// Allocator used to allocate objects in this struct.
+  rcl_allocator_t allocator;
+} rcl_log_levels_t;
+
+/// Return a rcl_log_levels_t struct with members initialized to zero value.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \return a rcl_log_levels_t struct with members initialized to zero value.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_log_levels_t
+rcl_get_zero_initialized_log_levels();
+
+/// Initialize a log levels structure.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] log_levels The structure to be initialized.
+ * \param[in] allocator Memory allocator to be used and assigned into log_levels.
+ * \param[in] logger_count Number of logger settings to be allocated.
+ *  This reserves memory for logger_settings, but doesn't initialize it.
+ * \return `RCL_RET_OK` if the structure was initialized successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if log_levels is NULL, or
+ *  log_levels contains initialized memory, or
+ *  allocator is invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_log_levels_init(
+  rcl_log_levels_t * log_levels, const rcl_allocator_t * allocator, size_t logger_count);
+
+/// Copy one log levels structure into another.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] src The structure to be copied.
+ *  Its allocator is used to copy memory into the new structure.
+ * \param[out] dst A log levels structure to be copied into.
+ * \return `RCL_RET_OK` if the structure was copied successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if src is NULL, or
+ *  if src allocator is invalid, or
+ *  if dst is NULL, or
+ *  if dst contains already allocated memory, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_log_levels_copy(const rcl_log_levels_t * src, rcl_log_levels_t * dst);
+
+/// Reclaim resources held inside rcl_log_levels_t structure.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] log_levels The structure which its resources have to be deallocated.
+ * \return `RCL_RET_OK` if the memory was successfully freed, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if log_levels is NULL, or
+ *  if ist allocator is invalid and the structure contains initialized memory.
+ */
+RCL_PUBLIC
+rcl_ret_t
+rcl_log_levels_fini(rcl_log_levels_t * log_levels);
+
+/// Shrink log levels structure.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] log_levels The structure to be shrunk.
+ * \return `RCL_RET_OK` if the memory was successfully shrunk, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if log_levels is NULL or if its allocator is invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if reallocating memory failed.
+ */
+RCL_PUBLIC
+rcl_ret_t
+rcl_log_levels_shrink_to_size(rcl_log_levels_t * log_levels);
+
+/// Add logger setting with a name and a level.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] log_levels The structure where to set the logger log level.
+ * \param[in] logger_name Name for the logger, a copy of it will be stored in the structure.
+ * \param[in] log_level Minimum log level severity to be set for logger_name.
+ * \return `RCL_RET_OK` if add logger setting successfully, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if log_levels is NULL, or
+ *   if log_levels was not initialized, or
+ *   if log_levels allocator is invalid, or
+ *   if logger_name is NULL, or
+ * \return `RCL_RET_ERROR` if the log_levels structure is already full.
+ */
+RCL_PUBLIC
+rcl_ret_t
+rcl_log_levels_add_logger_setting(
+  rcl_log_levels_t * log_levels, const char * logger_name, rcl_log_severity_t log_level);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__LOG_LEVEL_H_

rcl/include/rcl/logging_rosout.h

@@ -98,7 +98,7 @@ rcl_logging_rosout_fini();
  * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
-RCL_LOCAL
+RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_logging_rosout_init_publisher_for_node(
@@ -124,7 +124,7 @@ rcl_logging_rosout_init_publisher_for_node(
  * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
-RCL_LOCAL
+RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_logging_rosout_fini_publisher_for_node(

rcl/include/rcl/remap.h

@@ -247,6 +247,31 @@ rcl_remap_node_namespace(
   rcl_allocator_t allocator,
   char ** output_namespace);
 
+/// Copy one remap structure into another.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] rule The structure to be copied.
+ *  Its allocator is used to copy memory into the new structure.
+ * \param[out] rule_out A zero-initialized rcl_remap_t structure to be copied into.
+ * \return `RCL_RET_OK` if the structure was copied successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_remap_copy(
+  const rcl_remap_t * rule,
+  rcl_remap_t * rule_out);
+
 /// Reclaim resources held inside rcl_remap_t structure.
 /**
  * <hr>

rcl/include/rcl/rmw_implementation_identifier_check.h

@@ -0,0 +1,35 @@
+// 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.
+
+#ifndef RCL__RMW_IMPLEMENTATION_IDENTIFIER_CHECK_H_
+#define RCL__RMW_IMPLEMENTATION_IDENTIFIER_CHECK_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl/visibility_control.h"
+
+#define RMW_IMPLEMENTATION_ENV_VAR_NAME "RMW_IMPLEMENTATION"
+#define RCL_ASSERT_RMW_ID_MATCHES_ENV_VAR_NAME "RCL_ASSERT_RMW_ID_MATCHES"
+
+RCL_PUBLIC
+rcl_ret_t rcl_rmw_implementation_identifier_check(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__RMW_IMPLEMENTATION_IDENTIFIER_CHECK_H_