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Increase coverage with a graveyard behavior test and unmanaged instance test (#159)
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‎QUALITY_DECLARATION.md

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@@ -114,7 +114,9 @@ This includes:
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Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
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Current coverage statistics can be viewed [here](https://ci.ros2.org/job/ci_linux_coverage/85/cobertura/src_ros_class_loader_include_class_loader/) and [here](https://ci.ros2.org/job/ci_linux_coverage/85/cobertura/src_ros_class_loader_include_class_loader/). This package does not yet meet the 95% coverage guideline, but it is currently above 90%.
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This package has testing coverage of at least 95%.
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Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_coverage/lastSuccessfulBuild/cobertura/).
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A description of how coverage statistics are calculated is summarized in the [ROS 2 On-boarding Guide](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
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### Performance [4.iv]
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‎test/CMakeLists.txt

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@@ -26,6 +26,20 @@ endif()
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target_link_libraries(${PROJECT_NAME}_TestPlugins2 ${PROJECT_NAME})
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class_loader_hide_library_symbols(${PROJECT_NAME}_TestPlugins2)
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# These plugins are loaded using dlopen() with RTLD_GLOBAL in utest and may cause side effects
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# in other tests if they are used elsewhere.
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add_library(${PROJECT_NAME}_TestGlobalPlugins EXCLUDE_FROM_ALL SHARED global_plugins.cpp)
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if(ament_cmake_FOUND)
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target_include_directories(${PROJECT_NAME}_TestGlobalPlugins
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PUBLIC "../include")
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ament_target_dependencies(${PROJECT_NAME}_TestGlobalPlugins "console_bridge")
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else()
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target_include_directories(${PROJECT_NAME}_TestGlobalPlugins
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PUBLIC "../include" ${console_bridge_INCLUDE_DIRS})
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endif()
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target_link_libraries(${PROJECT_NAME}_TestGlobalPlugins ${PROJECT_NAME})
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class_loader_hide_library_symbols(${PROJECT_NAME}_TestGlobalPlugins)
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if(WIN32)
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set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
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else()
@@ -52,7 +66,8 @@ if(TARGET ${PROJECT_NAME}_utest)
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endif()
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add_dependencies(${PROJECT_NAME}_utest
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${PROJECT_NAME}_TestPlugins1
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${PROJECT_NAME}_TestPlugins2)
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${PROJECT_NAME}_TestPlugins2
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${PROJECT_NAME}_TestGlobalPlugins)
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endif()
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ament_add_gtest(${PROJECT_NAME}_unique_ptr_test unique_ptr_test.cpp

‎test/global_plugins.cpp

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@@ -0,0 +1,79 @@
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/*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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* Copyright (c) 2020, Open Source Robotics Foundation, Inc.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* 2020, Copied from plugins1.cpp and plugins2.cpp and changing class names
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*/
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#include <iostream>
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#include "class_loader/class_loader.hpp"
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#include "./base.hpp"
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class Kangaroo : public Base
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{
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public:
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void saySomething()
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{
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printf("[Angry growl]\n");
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}
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};
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class Panda : public Base
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{
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public:
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void saySomething()
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{
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printf("[Excited squeaks!!!]\n");
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}
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};
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class Hyena : public Base
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{
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public:
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void saySomething()
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{
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printf("[Cackling laugh]\n");
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}
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};
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class Alpaca : public Base
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{
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public:
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void saySomething()
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{
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printf("hhhaaaaaaaaaa\n");
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}
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};
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CLASS_LOADER_REGISTER_CLASS(Kangaroo, Base)
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CLASS_LOADER_REGISTER_CLASS(Panda, Base)
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CLASS_LOADER_REGISTER_CLASS(Hyena, Base)
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CLASS_LOADER_REGISTER_CLASS(Alpaca, Base)

‎test/utest.cpp

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Original file line numberDiff line numberDiff line change
@@ -29,6 +29,11 @@
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#include <chrono>
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#include <cstddef>
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#ifndef _WIN32
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#include <dlfcn.h>
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#endif
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#include <iostream>
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#include <memory>
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#include <string>
@@ -45,6 +50,11 @@
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const std::string LIBRARY_1 = class_loader::systemLibraryFormat("class_loader_TestPlugins1"); // NOLINT
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const std::string LIBRARY_2 = class_loader::systemLibraryFormat("class_loader_TestPlugins2"); // NOLINT
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// These are loaded with dlopen() and RTLD_GLOBAL in loadUnloadLoadFromGraveyard and may cause
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// unexpected side-effects if used elsewhere
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const std::string GLOBAL_PLUGINS = // NOLINT
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class_loader::systemLibraryFormat("class_loader_TestGlobalPlugins");
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TEST(ClassLoaderTest, basicLoad) {
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try {
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class_loader::ClassLoader loader1(LIBRARY_1, false);
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SUCCEED();
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}
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// Requires separate namespace so static variables are isolated
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TEST(ClassLoaderUnmanagedTest, basicLoadUnmanaged) {
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try {
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class_loader::ClassLoader loader1(LIBRARY_1, false);
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Base * unmanaged_instance = loader1.createUnmanagedInstance<Base>("Dog");
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ASSERT_NE(unmanaged_instance, nullptr);
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unmanaged_instance->saySomething();
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delete unmanaged_instance;
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} catch (class_loader::ClassLoaderException & e) {
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FAIL() << "ClassLoaderException: " << e.what() << "\n";
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}
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SUCCEED();
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}
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TEST(ClassLoaderUniquePtrTest, basicLoadFailures) {
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class_loader::ClassLoader loader1(LIBRARY_1, false);
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class_loader::ClassLoader loader2("", false);
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SUCCEED();
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}
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#ifndef _WIN32
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// Not run on Windows because this tests dlopen-specific behavior
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// This is a different class name so that static variables in ClassLoader are isolated
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TEST(ClassLoaderGraveyardTest, loadUnloadLoadFromGraveyard) {
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// This first load/unload adds the plugin to the graveyard
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try {
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class_loader::ClassLoader loader(GLOBAL_PLUGINS, false);
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loader.createInstance<Base>("Kangaroo")->saySomething();
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loader.unloadLibrary();
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} catch (class_loader::ClassLoaderException & e) {
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FAIL() << "ClassLoaderException: " << e.what() << "\n";
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}
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// Not all platforms use RTLD_GLOBAL as a default, and rcutils doesn't explicitly choose either.
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// In order to invoke graveyard behavior, this needs to be loaded first for global relocation.
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void * handle = dlopen(GLOBAL_PLUGINS.c_str(), RTLD_NOW | RTLD_GLOBAL);
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ASSERT_NE(handle, nullptr);
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// This load will cause system to use globally relocatable library.
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// For testing purposes, this will cause ClassLoader to revive the library from the graveyard.
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try {
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class_loader::ClassLoader loader(GLOBAL_PLUGINS, false);
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loader.createInstance<Base>("Panda")->saySomething();
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loader.unloadLibrary();
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loader.loadLibrary();
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loader.createInstance<Base>("Hyena")->saySomething();
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loader.unloadLibrary();
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} catch (class_loader::ClassLoaderException & e) {
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FAIL() << "ClassLoaderException: " << e.what() << "\n";
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}
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dlclose(handle);
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// With all libraries closed, this should act like a normal load/unload.
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try {
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class_loader::ClassLoader loader(GLOBAL_PLUGINS, false);
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loader.createInstance<Base>("Alpaca")->saySomething();
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loader.unloadLibrary();
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} catch (class_loader::ClassLoaderException & e) {
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FAIL() << "ClassLoaderException: " << e.what() << "\n";
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}
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}
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#endif // ifndef _WIN32
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// Run all the tests that were declared with TEST()
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int main(int argc, char ** argv)
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{

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