Add bad param tests ini/fini rosout publisher

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>

rcl/test/CMakeLists.txt

@@ -262,7 +262,7 @@ function(test_target_function)
  )
 
  rcl_add_custom_gtest(test_logging_rosout${target_suffix}
- SRCS rcl/test_logging_rosout.cpp
+ SRCS rcl/test_logging_rosout.cpp ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/logging_rosout.c
  ENV ${rmw_implementation_env_var}
  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
  LIBRARIES ${PROJECT_NAME}

rcl/test/rcl/#test_logging_rosout.cpp#

@@ -0,0 +1,291 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <vector>
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "rcl/error_handling.h"
+#include "rcl/logging.h"
+#include "rcl/rcl.h"
+#include "rcl/subscription.h"
+#include "rcl_interfaces/msg/log.h"
+#include "rcutils/logging_macros.h"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+#define EXPAND(x) x
+#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME( \
+ test_fixture_name, RMW_IMPLEMENTATION)
+#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
+#define TEST_P_RMW(test_case_name, test_name) \
+ APPLY( \
+ TEST_P, CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
+#define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \
+ EXPAND( \
+ APPLY( \
+ INSTANTIATE_TEST_CASE_P, instance_name, \
+ CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
+
+struct TestParameters
+{
+ int argc;
+ const char ** argv;
+ bool enable_node_option_rosout;
+ bool expected_success;
+ std::string description;
+};
+
+// for ::testing::PrintToStringParamName() to show the exact test case name
+std::ostream & operator<<(
+ std::ostream & out,
+ const TestParameters & params)
+{
+ out << params.description;
+ return out;
+}
+
+class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
+ : public ::testing::TestWithParam<TestParameters>
+{
+public:
+ void SetUp()
+ {
+ auto param = GetParam();
+ rcl_ret_t ret;
+ rcl_allocator_t allocator = rcl_get_default_allocator();
+ rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+ ret = rcl_init_options_init(&init_options, allocator);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+ {
+ EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
+ });
+ this->context_ptr = new rcl_context_t;
+ *this->context_ptr = rcl_get_zero_initialized_context();
+
+ ret = rcl_init(param.argc, param.argv, &init_options, this->context_ptr);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+ EXPECT_EQ(
+ RCL_RET_OK,
+ rcl_logging_configure(&this->context_ptr->global_arguments, &allocator)
+ ) << rcl_get_error_string().str;
+
+ // create node
+ rcl_node_options_t node_options = rcl_node_get_default_options();
+ if (!param.enable_node_option_rosout) {
+ node_options.enable_rosout = param.enable_node_option_rosout;
+ }
+ const char * name = "test_rcl_node_logging_rosout";
+ const char * namespace_ = "/ns";
+ this->node_ptr = new rcl_node_t;
+ *this->node_ptr = rcl_get_zero_initialized_node();
+ ret = rcl_node_init(this->node_ptr, name, namespace_, this->context_ptr, &node_options);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+ // create rosout subscription
+ const rosidl_message_type_support_t * ts =
+ ROSIDL_GET_MSG_TYPE_SUPPORT(rcl_interfaces, msg, Log);
+ const char * topic = "/rosout";
+ this->subscription_ptr = new rcl_subscription_t;
+ *this->subscription_ptr = rcl_get_zero_initialized_subscription();
+ rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+ ret = rcl_subscription_init(
+ this->subscription_ptr, this->node_ptr, ts, topic, &subscription_options);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ }
+
+ void TearDown()
+ {
+ rcl_ret_t ret = rcl_subscription_fini(this->subscription_ptr, this->node_ptr);
+ delete this->subscription_ptr;
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ ret = rcl_node_fini(this->node_ptr);
+ delete this->node_ptr;
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ ret = rcl_shutdown(this->context_ptr);
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ ret = rcl_context_fini(this->context_ptr);
+ delete this->context_ptr;
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ EXPECT_EQ(RCL_RET_OK, rcl_logging_fini()) << rcl_get_error_string().str;
+ }
+
+protected:
+ rcl_context_t * context_ptr;
+ rcl_node_t * node_ptr;
+ rcl_subscription_t * subscription_ptr;
+};
+
+void
+wait_for_subscription_to_be_ready(
+ rcl_subscription_t * subscription,
+ rcl_context_t * context,
+ size_t max_tries,
+ int64_t period_ms,
+ bool & success)
+{
+ rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+ rcl_ret_t ret =
+ rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, 0, context, rcl_get_default_allocator());
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+ {
+ rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ });
+ size_t iteration = 0;
+ do {
+ ++iteration;
+ ret = rcl_wait_set_clear(&wait_set);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ ret = rcl_wait_set_add_subscription(&wait_set, subscription, NULL);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
+ if (ret == RCL_RET_TIMEOUT) {
+ continue;
+ }
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ for (size_t i = 0; i < wait_set.size_of_subscriptions; ++i) {
+ if (wait_set.subscriptions[i] && wait_set.subscriptions[i] == subscription) {
+ success = true;
+ return;
+ }
+ }
+ } while (iteration < max_tries);
+ success = false;
+}
+
+/* Testing the subscriber of topic 'rosout' whether to get event from logging or not.
+ */
+TEST_P_RMW(TestLoggingRosoutFixture, test_logging_rosout) {
+ // log
+ RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");
+
+ bool success;
+ wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
+ ASSERT_EQ(success, GetParam().expected_success);
+}
+
+//
+// create set of input and expected values
+//
+std::vector<TestParameters>
+get_parameters()
+{
+ std::vector<TestParameters> parameters;
+ static int s_argc = 2;
+ static const char * s_argv_enable_rosout[] = {"--ros-args", "--enable-rosout-logs"};
+ static const char * s_argv_disable_rosout[] = {"--ros-args", "--disable-rosout-logs"};
+
+ /*
+ * Test with enable(implicit) global rosout logs and enable node option of rosout.
+ */
+ parameters.push_back(
+ {
+ 0,
+ nullptr,
+ true,
+ true,
+ "test_enable_implicit_global_rosout_enable_node_option"
+ });
+ /*
+ * Test with enable(implicit) global rosout logs and disable node option of rosout.
+ */
+ parameters.push_back(
+ {
+ 0,
+ nullptr,
+ false,
+ false,
+ "test_enable_implicit_global_rosout_disable_node_option"
+ });
+ /*
+ * Test with enable(explicit) global rosout logs and enable node option of rosout.
+ */
+ parameters.push_back(
+ {
+ s_argc,
+ s_argv_enable_rosout,
+ true,
+ true,
+ "test_enable_explicit_global_rosout_enable_node_option"
+ });
+ /*
+ * Test with enable(explicit) global rosout logs and disable node option of rosout.
+ */
+ parameters.push_back(
+ {
+ s_argc,
+ s_argv_enable_rosout,
+ false,
+ false,
+ "test_enable_explicit_global_rosout_disable_node_option"
+ });
+ /*
+ * Test with disable global rosout logs and enable node option of rosout.
+ */
+ parameters.push_back(
+ {
+ s_argc,
+ s_argv_disable_rosout,
+ true,
+ false,
+ "test_disable_global_rosout_enable_node_option"
+ });
+ /*
+ * Test with disable global rosout logs and disable node option of rosout.
+ */
+ parameters.push_back(
+ {
+ s_argc,
+ s_argv_disable_rosout,
+ false,
+ false,
+ "test_disable_global_rosout_disable_node_option"
+ });
+
+ return parameters;
+}
+
+INSTANTIATE_TEST_CASE_P_RMW(
+ TestLoggingRosoutWithDifferentSettings,
+ TestLoggingRosoutFixture,
+ ::testing::ValuesIn(get_parameters()),
+ ::testing::PrintToStringParamName());
+
+/* Bad params 
+ */
+/* 
+TEST_F( 
+ CLASSNAME( 
+ TestLogRosoutFixtureNotParam, RMW_IMPLEMENTATION), 
+ test_bad_params_init_fini_node_publisher) 
+{ 
+ rcl_allocator_t allocator = rcl_get_default_allocator(); 
+ rcl_node_t not_init_node = rcl_get_zero_initialized_node(); 
+ EXPECT_EQ(RCL_RET_OK, rcl_logging_rosout_init(&allocator)); 
+
+ EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_logging_rosout_init_publisher_for_node(nullptr)); 
+ rcl_reset_error(); 
+ EXPECT_EQ(RCL_RET_ERROR, rcl_logging_rosout_init_publisher_for_node(&not_init_node)); 
+ rcl_reset_error(); EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_logging_rosout_fini_publisher_for_node(nullptr)); rcl_reset_error(); EXPECT_EQ(RCL_RET_ERROR, rcl_logging_rosout_fini_publisher_for_node(&not_init_node)); rcl_reset_error(); EXPECT_EQ(RCL_RET_OK, rcl_logging_rosout_fini()); } 

rcl/test/rcl/test_logging_rosout.cpp

@@ -25,6 +25,8 @@
 #include "rcl_interfaces/msg/log.h"
 #include "rcutils/logging_macros.h"
 
+#include "rcl/logging_rosout.h"
+
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
 # define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
@@ -63,6 +65,8 @@ std::ostream & operator<<(
  return out;
 }
 
+class CLASSNAME (TestLogRosoutFixtureNotParam, RMW_IMPLEMENTATION) : public ::testing::Test {};
+
 class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
  : public ::testing::TestWithParam<TestParameters>
 {
@@ -272,3 +276,27 @@ INSTANTIATE_TEST_CASE_P_RMW(
  TestLoggingRosoutFixture,
  ::testing::ValuesIn(get_parameters()),
  ::testing::PrintToStringParamName());
+
+/* Bad params
+ */
+TEST_F(
+ CLASSNAME(
+ TestLogRosoutFixtureNotParam, RMW_IMPLEMENTATION),
+ test_bad_params_init_fini_node_publisher)
+{
+ rcl_allocator_t allocator = rcl_get_default_allocator();
+ rcl_node_t not_init_node = rcl_get_zero_initialized_node();
+ EXPECT_EQ(RCL_RET_OK, rcl_logging_rosout_init(&allocator));
+
+ EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_logging_rosout_init_publisher_for_node(nullptr));
+ rcl_reset_error();
+ EXPECT_EQ(RCL_RET_ERROR, rcl_logging_rosout_init_publisher_for_node(&not_init_node));
+ rcl_reset_error();
+
+ EXPECT_EQ(RCL_RET_NODE_INVALID, rcl_logging_rosout_fini_publisher_for_node(nullptr));
+ rcl_reset_error();
+ EXPECT_EQ(RCL_RET_ERROR, rcl_logging_rosout_fini_publisher_for_node(&not_init_node));
+ rcl_reset_error();
+
+ EXPECT_EQ(RCL_RET_OK, rcl_logging_rosout_fini());
+}