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Add fault injection macros and unit tests to rcl_action #730

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merged 4 commits into from
Aug 31, 2020
Merged

Add fault injection macros and unit tests to rcl_action #730

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907cd21
Add fault injection macros and unit tests to rcl_action
brawner Jul 28, 2020
e4f7f0c
Addressing feedback
brawner Aug 27, 2020
cddccfb
PR Fixup
brawner Aug 29, 2020
8ee0870
PR Fixup
brawner Aug 31, 2020
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17 changes: 17 additions & 0 deletions rcl_action/test/rcl_action/test_action_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -972,14 +972,31 @@ TEST_F(TestActionServer, action_server_init_fini_maybe_fail)
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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@brawner missing fini counterpart?

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Added.

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
});

rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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@brawner missing shutdown/fini counterpart?

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Added.

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context));
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});

rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&node, "test_action_server_node", "", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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@brawner missing fini counterpart?

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Added.

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&node_options));
}
);
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@brawner uncrustify here?

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Uncrustify was happy, but combined lines 997 and 998.


rcl_clock_t clock;
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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