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Add coverage tests context functions (#1321)
* Add basic tests context access * Add expected interrupt_guard get/release * Add mocking utilities to rclcpp * Add tests interrupt_guard_condition * Add tests ini/fini error context * Add destructor test error * Create context directly in block* Use scope exit to clean context Signed-off-by: Jorge Perez <[email protected]>
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‎rclcpp/test/CMakeLists.txt‎

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@@ -480,7 +480,7 @@ ament_add_gtest(test_utilities rclcpp/test_utilities.cpp
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if(TARGET test_utilities)
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ament_target_dependencies(test_utilities
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"rcl")
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target_link_libraries(test_utilities ${PROJECT_NAME})
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target_link_libraries(test_utilities ${PROJECT_NAME} mimick)
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endif()
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ament_add_gtest(test_init rclcpp/test_init.cpp

‎rclcpp/test/rclcpp/test_utilities.cpp‎

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@@ -17,9 +17,15 @@
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#include <string>
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#include <memory>
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#include "rcl/init.h"
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#include "rcl/logging.h"
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#include "rclcpp/contexts/default_context.hpp"
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#include "rclcpp/exceptions.hpp"
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#include "rclcpp/utilities.hpp"
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#include "rclcpp/scope_exit.hpp"
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#include "../mocking_utils/patch.hpp"
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TEST(TestUtilities, remove_ros_arguments) {
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const char * const argv[] = {
@@ -78,3 +84,128 @@ TEST(TestUtilities, multi_init) {
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EXPECT_FALSE(rclcpp::ok(context1));
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EXPECT_FALSE(rclcpp::ok(context2));
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}
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TEST(TestUtilities, test_context_basic_access) {
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auto context1 = std::make_shared<rclcpp::contexts::DefaultContext>();
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EXPECT_NE(nullptr, context1->get_init_options().get_rcl_init_options());
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EXPECT_EQ(0u, context1->get_on_shutdown_callbacks().size());
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EXPECT_EQ(std::string{""}, context1->shutdown_reason());
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}
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TEST(TestUtilities, test_context_basic_access_const_methods) {
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auto context1 = std::make_shared<const rclcpp::contexts::DefaultContext>();
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EXPECT_NE(nullptr, context1->get_init_options().get_rcl_init_options());
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EXPECT_EQ(0u, context1->get_on_shutdown_callbacks().size());
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// EXPECT_EQ(std::string{""}, context1->shutdown_reason()); not available for const
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}
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, ==)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, !=)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, >)
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MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, <)
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TEST(TestUtilities, test_context_release_interrupt_guard_condition) {
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auto context1 = std::make_shared<rclcpp::contexts::DefaultContext>();
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context1->init(0, nullptr);
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RCLCPP_SCOPE_EXIT(rclcpp::shutdown(context1););
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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rcl_ret_t ret = rcl_wait_set_init(
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&wait_set, 0, 2, 0, 0, 0, 0, context1->get_rcl_context().get(),
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rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret);
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// Expected usage
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rcl_guard_condition_t * interrupt_guard_condition =
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context1->get_interrupt_guard_condition(&wait_set);
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EXPECT_NE(nullptr, interrupt_guard_condition);
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EXPECT_NO_THROW(context1->release_interrupt_guard_condition(&wait_set));
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_guard_condition_init, RCL_RET_ERROR);
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EXPECT_THROW(
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{interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);},
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rclcpp::exceptions::RCLError);
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}
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{
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interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);
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auto mock = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
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EXPECT_THROW(
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{context1->release_interrupt_guard_condition(&wait_set);},
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rclcpp::exceptions::RCLError);
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}
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{
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interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);
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auto mock = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
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EXPECT_NO_THROW({context1->release_interrupt_guard_condition(&wait_set, std::nothrow);});
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}
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{
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EXPECT_THROW(
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context1->release_interrupt_guard_condition(nullptr),
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std::runtime_error);
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}
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// Test it works after restore mocks
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interrupt_guard_condition = context1->get_interrupt_guard_condition(&wait_set);
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EXPECT_NE(nullptr, interrupt_guard_condition);
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EXPECT_NO_THROW(context1->release_interrupt_guard_condition(&wait_set));
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}
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TEST(TestUtilities, test_context_init_shutdown_fails) {
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{
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auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
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auto context_fail_init = std::make_shared<rclcpp::contexts::DefaultContext>();
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_init, RCL_RET_ERROR);
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EXPECT_THROW(context_fail_init->init(0, nullptr), rclcpp::exceptions::RCLError);
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}
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{
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auto context_fail_init = std::make_shared<rclcpp::contexts::DefaultContext>();
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rcl_logging_configure_with_output_handler, RCL_RET_ERROR);
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EXPECT_THROW(context_fail_init->init(0, nullptr), rclcpp::exceptions::RCLError);
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}
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{
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auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
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context->init(0, nullptr);
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auto mock = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
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// This will log a message, no throw expected
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EXPECT_NO_THROW(context->shutdown(""));
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}
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{
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auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
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context->init(0, nullptr);
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auto mock = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_shutdown, RCL_RET_ERROR);
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EXPECT_THROW(context->shutdown(""), rclcpp::exceptions::RCLError);
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}
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{
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auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
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context->init(0, nullptr);
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auto mock = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_logging_fini, RCL_RET_ERROR);
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// This will log a message, no throw expected
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EXPECT_NO_THROW(context->shutdown(""));
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}
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{
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auto context_to_destroy = std::make_shared<rclcpp::contexts::DefaultContext>();
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auto mock = mocking_utils::inject_on_return(
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"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
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// This will log a message, no throw expected
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EXPECT_NO_THROW({context_to_destroy.reset();});
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}
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}

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