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Add rcl_reset_error to clear expected errors
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Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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@Blast545
Blast545 committed May 22, 2020
1 parent 08a1049 commit 14be83e
Showing 1 changed file with 44 additions and 0 deletions.
44 changes: 44 additions & 0 deletions rcl/test/rcl/test_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -371,70 +371,114 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_invalid_publish
EXPECT_NE(nullptr, rcl_publisher_get_rmw_handle(&publisher));
EXPECT_NE(nullptr, rcl_publisher_get_actual_qos(&publisher));
EXPECT_NE(nullptr, rcl_publisher_get_options(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(&publisher));
rcl_reset_error();
EXPECT_EQ(false, rcl_publisher_can_loan_messages(&publisher));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(&publisher, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(&publisher));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(&publisher, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(&publisher, &serialized_msg, nullptr));
rcl_reset_error();
publisher.impl->context = saved_context;

// Change internal rmw_handle to nullptr
publisher.impl->rmw_handle = nullptr;
EXPECT_FALSE(rcl_publisher_is_valid_except_context(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_topic_name(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_rmw_handle(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_actual_qos(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_options(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(&publisher));
rcl_reset_error();
EXPECT_EQ(false, rcl_publisher_can_loan_messages(&publisher));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(&publisher, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(&publisher));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(&publisher, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(&publisher, &serialized_msg, nullptr));
rcl_reset_error();
publisher.impl->rmw_handle = saved_rmw_handle;

// Change internal implementation to nullptr
publisher.impl = nullptr;
EXPECT_FALSE(rcl_publisher_is_valid_except_context(&publisher));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_topic_name(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_rmw_handle(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_actual_qos(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_options(&publisher));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(&publisher));
rcl_reset_error();
EXPECT_EQ(false, rcl_publisher_can_loan_messages(&publisher));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(&publisher, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(&publisher));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(&publisher, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(&publisher, &serialized_msg, nullptr));
rcl_reset_error();
publisher.impl = saved_impl;

// Null tests
EXPECT_FALSE(rcl_publisher_is_valid_except_context(nullptr));
rcl_reset_error();
EXPECT_FALSE(rcl_publisher_is_valid(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_topic_name(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_rmw_handle(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_actual_qos(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_options(nullptr));
rcl_reset_error();
EXPECT_EQ(nullptr, rcl_publisher_get_context(nullptr));
rcl_reset_error();
EXPECT_EQ(false, rcl_publisher_can_loan_messages(nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID, rcl_publisher_get_subscription_count(nullptr, &count_size));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publisher_assert_liveliness(nullptr));
rcl_reset_error();
EXPECT_EQ(RCL_RET_PUBLISHER_INVALID, rcl_publish(nullptr, &msg, nullptr));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_PUBLISHER_INVALID,
rcl_publish_serialized_message(nullptr, &serialized_msg, nullptr));
rcl_reset_error();
}

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