Add coverage tests wait module

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
ros2 · Aug 31, 2020 · 4306e2d · 4306e2d
1 parent fb4b023
commit 4306e2d
Show file tree

Hide file tree

Showing 3 changed files with 68 additions and 1 deletion.
diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
@@ -382,6 +382,7 @@ rcl_wait_set_resize(
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(wait_set->impl, RCL_RET_WAIT_SET_INVALID);
+
   SET_RESIZE(
     subscription,
     SET_RESIZE_RMW_DEALLOC(

diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
@@ -265,7 +265,7 @@ function(test_target_function)
     SRCS rcl/test_wait.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
+    LIBRARIES ${PROJECT_NAME} mimick
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 

diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
@@ -30,6 +30,7 @@
 #include "rcutils/logging_macros.h"
 
 #include "./allocator_testing_utils.h"
+#include "../mocking_utils/patch.hpp"
 
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@@ -684,3 +685,68 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_get_allocator
   ret = rcl_wait_set_fini(&wait_set);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
+
+// Test wait set init failure cases using mocks
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  // nullptr failures
+  rcl_ret_t ret =
+    rcl_wait_set_init(nullptr, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+
+  ret =
+    rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, nullptr, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+
+  {
+    // Mock rmw implementation to fail init
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_create_wait_set, nullptr);
+    ret =
+      rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
+    EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+}
+
+// Test failure init when using a bad allocators
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init_bomb_alloc) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret = RCL_RET_OK;
+
+  // Pass bomb allocator to make resize function fail
+  rcl_allocator_t bomb_alloc = get_time_bombed_allocator();
+  for (int i = 0; i < 10; i++) {
+    set_time_bombed_allocator_count(bomb_alloc, i);
+    ret =
+      rcl_wait_set_init(&wait_set, 1, 0, 0, 1, 1, 0, context_ptr, bomb_alloc);
+    if (RCL_RET_OK == ret) {
+      EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
+      break;
+    } else {
+      EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
+      rcl_reset_error();
+    }
+  }
+}
+
+// Test wait set fini failure cases using mocks
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_fini) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret =
+    rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
+  ASSERT_EQ(RCL_RET_OK, ret);
+  {
+    // Mock rmw implementation to fail fini
+    auto mock = mocking_utils::inject_on_return(
+      "lib:rcl", rmw_destroy_wait_set, RMW_RET_ERROR);
+    EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, rcl_wait_set_fini(&wait_set));
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+}