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Increase coverage of node_interfaces, including with mocking rcl errors (#1322)
* Increase coverage of node_interfaces, including with mocking rcl errors Signed-off-by: Stephen Brawner <[email protected]> * PR Fixup Signed-off-by: Stephen Brawner <[email protected]>
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8 files changed

+689
-138
lines changed

8 files changed

+689
-138
lines changed

‎rclcpp/test/CMakeLists.txt‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -180,7 +180,7 @@ endif()
180180
ament_add_gtest(test_node_interfaces__node_base
181181
rclcpp/node_interfaces/test_node_base.cpp)
182182
if(TARGET test_node_interfaces__node_base)
183-
target_link_libraries(test_node_interfaces__node_base ${PROJECT_NAME})
183+
target_link_libraries(test_node_interfaces__node_base ${PROJECT_NAME} mimick)
184184
endif()
185185
ament_add_gtest(test_node_interfaces__node_clock
186186
rclcpp/node_interfaces/test_node_clock.cpp)
@@ -193,35 +193,35 @@ if(TARGET test_node_interfaces__node_graph)
193193
ament_target_dependencies(
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test_node_interfaces__node_graph
195195
"test_msgs")
196-
target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME})
196+
target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME} mimick)
197197
endif()
198198
ament_add_gtest(test_node_interfaces__node_parameters
199199
rclcpp/node_interfaces/test_node_parameters.cpp)
200200
if(TARGET test_node_interfaces__node_parameters)
201-
target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME})
201+
target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME} mimick)
202202
endif()
203203
ament_add_gtest(test_node_interfaces__node_services
204204
rclcpp/node_interfaces/test_node_services.cpp)
205205
if(TARGET test_node_interfaces__node_services)
206-
target_link_libraries(test_node_interfaces__node_services ${PROJECT_NAME})
206+
target_link_libraries(test_node_interfaces__node_services ${PROJECT_NAME} mimick)
207207
endif()
208208
ament_add_gtest(test_node_interfaces__node_timers
209209
rclcpp/node_interfaces/test_node_timers.cpp)
210210
if(TARGET test_node_interfaces__node_timers)
211-
target_link_libraries(test_node_interfaces__node_timers ${PROJECT_NAME})
211+
target_link_libraries(test_node_interfaces__node_timers ${PROJECT_NAME} mimick)
212212
endif()
213213
ament_add_gtest(test_node_interfaces__node_topics
214214
rclcpp/node_interfaces/test_node_topics.cpp)
215215
if(TARGET test_node_interfaces__node_topics)
216216
ament_target_dependencies(
217217
test_node_interfaces__node_topics
218218
"test_msgs")
219-
target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME})
219+
target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME} mimick)
220220
endif()
221221
ament_add_gtest(test_node_interfaces__node_waitables
222222
rclcpp/node_interfaces/test_node_waitables.cpp)
223223
if(TARGET test_node_interfaces__node_waitables)
224-
target_link_libraries(test_node_interfaces__node_waitables ${PROJECT_NAME})
224+
target_link_libraries(test_node_interfaces__node_waitables ${PROJECT_NAME} mimick)
225225
endif()
226226

227227
# TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output

‎rclcpp/test/rclcpp/node_interfaces/test_node_base.cpp‎

Lines changed: 133 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,11 @@
2121
#include "rclcpp/node.hpp"
2222
#include "rclcpp/node_interfaces/node_base.hpp"
2323
#include "rclcpp/rclcpp.hpp"
24+
#include "rmw/validate_namespace.h"
25+
#include "rmw/validate_node_name.h"
26+
27+
#include "../../mocking_utils/patch.hpp"
28+
#include "../../utils/rclcpp_gtest_macros.hpp"
2429

2530
class TestNodeBase : public ::testing::Test
2631
{
@@ -36,6 +41,12 @@ class TestNodeBase : public ::testing::Test
3641
}
3742
};
3843

44+
// Required for mocking_utils below
45+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, ==)
46+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, !=)
47+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, <)
48+
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, >)
49+
3950
TEST_F(TestNodeBase, construct_from_node)
4051
{
4152
std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
@@ -58,3 +69,125 @@ TEST_F(TestNodeBase, construct_from_node)
5869
EXPECT_NE(nullptr, const_node_base->get_rcl_node_handle());
5970
EXPECT_NE(nullptr, const_node_base->get_shared_rcl_node_handle());
6071
}
72+
73+
TEST_F(TestNodeBase, construct_destruct_rcl_guard_condition_init_error) {
74+
auto mock = mocking_utils::patch_and_return(
75+
"lib:rclcpp", rcl_guard_condition_init, RCL_RET_ERROR);
76+
EXPECT_THROW(
77+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
78+
rclcpp::exceptions::RCLError);
79+
}
80+
81+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_error) {
82+
auto mock_node_init = mocking_utils::patch_and_return(
83+
"lib:rclcpp", rcl_node_init, RCL_RET_ERROR);
84+
85+
// This function is called only if rcl_node_init fails, so both mocked functions are required
86+
// This just logs an error, so behavior shouldn't change
87+
auto mock_guard_condition_fini = mocking_utils::inject_on_return(
88+
"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
89+
90+
EXPECT_THROW(
91+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
92+
rclcpp::exceptions::RCLError);
93+
}
94+
95+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_node_name) {
96+
auto mock_node_init = mocking_utils::patch_and_return(
97+
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAME);
98+
99+
// `rmw_validate_node_name` is only called if `rcl_node_init` returns INVALID_NAME
100+
auto mock_validate_node_name = mocking_utils::patch_and_return(
101+
"lib:rclcpp", rmw_validate_node_name, RMW_RET_ERROR);
102+
103+
EXPECT_THROW(
104+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
105+
rclcpp::exceptions::RCLError);
106+
}
107+
108+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_node_name_invalid_argument) {
109+
auto mock_node_init = mocking_utils::patch_and_return(
110+
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAME);
111+
112+
// `rmw_validate_node_name` is only called if `rcl_node_init` returns INVALID_NAME
113+
auto mock_validate_node_name = mocking_utils::patch_and_return(
114+
"lib:rclcpp", rmw_validate_node_name, RMW_RET_INVALID_ARGUMENT);
115+
116+
EXPECT_THROW(
117+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
118+
rclcpp::exceptions::RCLInvalidArgument);
119+
}
120+
121+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_node_name_valid_rmw_node_name) {
122+
auto mock_node_init = mocking_utils::patch_and_return(
123+
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAME);
124+
125+
// `rmw_validate_node_name` is only called if `rcl_node_init` returns INVALID_NAME
126+
auto mock = mocking_utils::patch(
127+
"lib:rclcpp", rmw_validate_node_name, [](const char *, int * validation_result, size_t *)
128+
{
129+
*validation_result = RMW_NODE_NAME_VALID;
130+
return RMW_RET_OK;
131+
});
132+
133+
RCLCPP_EXPECT_THROW_EQ(
134+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
135+
std::runtime_error("valid rmw node name but invalid rcl node name"));
136+
}
137+
138+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_namespace) {
139+
auto mock_node_init = mocking_utils::patch_and_return(
140+
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAMESPACE);
141+
142+
// `rmw_validate_namespace` is only called if `rcl_node_init` returns INVALID_NAMESPACE
143+
auto mock_validate_namespace = mocking_utils::patch_and_return(
144+
"lib:rclcpp", rmw_validate_namespace, RMW_RET_ERROR);
145+
146+
EXPECT_THROW(
147+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
148+
rclcpp::exceptions::RCLError);
149+
}
150+
151+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_namespace_rmw_invalid_argument) {
152+
auto mock_node_init = mocking_utils::patch_and_return(
153+
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAMESPACE);
154+
155+
// `rmw_validate_namespace` is only called if `rcl_node_init` returns INVALID_NAMESPACE
156+
auto mock_validate_namespace = mocking_utils::patch_and_return(
157+
"lib:rclcpp", rmw_validate_namespace, RMW_RET_INVALID_ARGUMENT);
158+
159+
EXPECT_THROW(
160+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
161+
rclcpp::exceptions::RCLInvalidArgument);
162+
}
163+
164+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_namespace_valid_rmw_namespace) {
165+
auto mock_node_init = mocking_utils::patch_and_return(
166+
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAMESPACE);
167+
168+
// `rmw_validate_namespace` is only called if `rcl_node_init` returns INVALID_NAMESPACE
169+
auto mock = mocking_utils::patch(
170+
"lib:rclcpp", rmw_validate_namespace, [](const char *, int * validation_result, size_t *)
171+
{
172+
*validation_result = RMW_NAMESPACE_VALID;
173+
return RMW_RET_OK;
174+
});
175+
176+
RCLCPP_EXPECT_THROW_EQ(
177+
std::make_shared<rclcpp::Node>("node", "ns").reset(),
178+
std::runtime_error("valid rmw node namespace but invalid rcl node namespace"));
179+
}
180+
181+
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_fini_error) {
182+
auto mock_node_fini = mocking_utils::inject_on_return(
183+
"lib:rclcpp", rcl_node_fini, RCL_RET_ERROR);
184+
185+
EXPECT_NO_THROW(std::make_shared<rclcpp::Node>("node", "ns").reset());
186+
}
187+
188+
TEST_F(TestNodeBase, construct_destruct_rcl_guard_condition_fini_error) {
189+
auto mock_node_fini = mocking_utils::inject_on_return(
190+
"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
191+
192+
EXPECT_NO_THROW(std::make_shared<rclcpp::Node>("node", "ns").reset());
193+
}

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