Skip to content

Commit

Permalink
Fix tests for new APIs.
Browse files Browse the repository at this point in the history 
Signed-off-by: Michael Carroll <michael@openrobotics.org>
  • Loading branch information
@mjcarroll
mjcarroll committed May 1, 2019
1 parent 92f9e43 commit baacb5d
Show file tree
Hide file tree
Showing 2 changed files with 179 additions and 182 deletions.
353 changes: 175 additions & 178 deletions rcl/test/rcl/test_publisher.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@

#include "rcl/rcl.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/msg/int32.h"
#include "rosidl_generator_c/string_functions.h"

#include "./failing_allocator_functions.hpp"
Expand Down Expand Up @@ -79,194 +78,192 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Int32);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "chatter";
const char * expected_topic_name = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
publisher_options.preallocate = true;
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
test_msgs__msg__Int32 msg;
test_msgs__msg__Int32__init(&msg);
msg.int32_value = 42;
ret = rcl_publish(&publisher, &msg);
test_msgs__msg__Int32__fini(&msg);
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
msg.int64_value = 42;
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// /* Basic nominal test of a publisher with a string.
// */
// TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal_string) {
// rcl_ret_t ret;
// rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
// const rosidl_message_type_support_t * ts =
// ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
// const char * topic_name = "chatter";
// rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
// publisher_options.preallocate= true;
// ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
// ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
// rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
// EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// });
// test_msgs__msg__Primitives msg;
// test_msgs__msg__Primitives__init(&msg);
// ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
// ret = rcl_publish(&publisher, &msg);
// test_msgs__msg__Primitives__fini(&msg);
// ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// }
/* Basic nominal test of a publisher with a string.
*/
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal_string) {
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// /* Test two publishers using different message types with the same basename.
// *
// * Regression test for https://github.com/ros2/rmw_connext/issues/234, where rmw_connext_cpp could
// * not support publishers on topics with the same basename (but different namespaces) using
// * different message types, because at the time partitions were used for implementing namespaces.
// */
// TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) {
// rcl_ret_t ret;
// rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
// const rosidl_message_type_support_t * ts_int =
// ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
// const char * topic_name = "basename";
// const char * expected_topic_name = "/basename";
// rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
// ret = rcl_publisher_init(&publisher, this->node_ptr, ts_int, topic_name, &publisher_options);
// ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
// rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
// EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// });
// EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
//
// rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher();
// const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT(
// test_msgs, msg, Primitives);
// topic_name = "namespace/basename";
// expected_topic_name = "/namespace/basename";
// ret = rcl_publisher_init(
// &publisher_in_namespace, this->node_ptr, ts_string, topic_name, &publisher_options);
// ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
// rcl_ret_t ret = rcl_publisher_fini(&publisher_in_namespace, this->node_ptr);
// EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// });
// EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);
//
// test_msgs__msg__Primitives msg_int;
// test_msgs__msg__Primitives__init(&msg_int);
// msg_int.int64_value = 42;
// ret = rcl_publish(&publisher, &msg_int);
// ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// test_msgs__msg__Primitives__fini(&msg_int);
//
// test_msgs__msg__Primitives msg_string;
// test_msgs__msg__Primitives__init(&msg_string);
// ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.string_value, "testing"));
// ret = rcl_publish(&publisher_in_namespace, &msg_string);
// ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// }
//
// /* Testing the publisher init and fini functions.
// */
// TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_fini) {
// rcl_ret_t ret;
// // Setup valid inputs.
// rcl_publisher_t publisher;
// const rosidl_message_type_support_t * ts =
// ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
// const char * topic_name = "chatter";
// rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();
//
// // Check if null publisher is valid
// EXPECT_FALSE(rcl_publisher_is_valid(nullptr));
// rcl_reset_error();
//
// // Check if zero initialized node is valid
// publisher = rcl_get_zero_initialized_publisher();
// EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
// rcl_reset_error();
//
// // Check that valid publisher is valid
// publisher = rcl_get_zero_initialized_publisher();
// ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &default_publisher_options);
// EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// EXPECT_TRUE(rcl_publisher_is_valid(&publisher));
// rcl_reset_error();
//
// // Try passing null for publisher in init.
// ret = rcl_publisher_init(nullptr, this->node_ptr, ts, topic_name, &default_publisher_options);
// EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // Try passing null for a node pointer in init.
// publisher = rcl_get_zero_initialized_publisher();
// ret = rcl_publisher_init(&publisher, nullptr, ts, topic_name, &default_publisher_options);
// EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // Try passing an invalid (uninitialized) node in init.
// publisher = rcl_get_zero_initialized_publisher();
// rcl_node_t invalid_node = rcl_get_zero_initialized_node();
// ret = rcl_publisher_init(&publisher, &invalid_node, ts, topic_name, &default_publisher_options);
// EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // Try passing null for the type support in init.
// publisher = rcl_get_zero_initialized_publisher();
// ret = rcl_publisher_init(
// &publisher, this->node_ptr, nullptr, topic_name, &default_publisher_options);
// EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // Try passing null for the topic name in init.
// publisher = rcl_get_zero_initialized_publisher();
// ret = rcl_publisher_init(&publisher, this->node_ptr, ts, nullptr, &default_publisher_options);
// EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // Try passing null for the options in init.
// publisher = rcl_get_zero_initialized_publisher();
// ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, nullptr);
// EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // Try passing options with an invalid allocate in allocator with init.
// publisher = rcl_get_zero_initialized_publisher();
// rcl_publisher_options_t publisher_options_with_invalid_allocator;
// publisher_options_with_invalid_allocator = rcl_publisher_get_default_options();
// publisher_options_with_invalid_allocator.allocator.allocate = nullptr;
// ret = rcl_publisher_init(
// &publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
// EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // Try passing options with an invalid deallocate in allocator with init.
// publisher = rcl_get_zero_initialized_publisher();
// publisher_options_with_invalid_allocator = rcl_publisher_get_default_options();
// publisher_options_with_invalid_allocator.allocator.deallocate = nullptr;
// ret = rcl_publisher_init(
// &publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
// EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
// rcl_reset_error();
//
// // An allocator with an invalid realloc will probably work (so we will not test it).
//
// // Try passing options with a failing allocator with init.
// publisher = rcl_get_zero_initialized_publisher();
// rcl_publisher_options_t publisher_options_with_failing_allocator;
// publisher_options_with_failing_allocator = rcl_publisher_get_default_options();
// publisher_options_with_failing_allocator.allocator.allocate = failing_malloc;
// publisher_options_with_failing_allocator.allocator.reallocate = failing_realloc;
// publisher_options_with_failing_allocator.allocator.zero_allocate = failing_calloc;
// ret = rcl_publisher_init(
// &publisher, this->node_ptr, ts, topic_name, &publisher_options_with_failing_allocator);
// EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
// rcl_reset_error();
// }
/* Test two publishers using different message types with the same basename.
*
* Regression test for https://github.com/ros2/rmw_connext/issues/234, where rmw_connext_cpp could
* not support publishers on topics with the same basename (but different namespaces) using
* different message types, because at the time partitions were used for implementing namespaces.
*/
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) {
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_int =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "basename";
const char * expected_topic_name = "/basename";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts_int, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);

rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT(
test_msgs, msg, Primitives);
topic_name = "namespace/basename";
expected_topic_name = "/namespace/basename";
ret = rcl_publisher_init(
&publisher_in_namespace, this->node_ptr, ts_string, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_publisher_fini(&publisher_in_namespace, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);

test_msgs__msg__Primitives msg_int;
test_msgs__msg__Primitives__init(&msg_int);
msg_int.int64_value = 42;
ret = rcl_publish(&publisher, &msg_int, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_msgs__msg__Primitives__fini(&msg_int);

test_msgs__msg__Primitives msg_string;
test_msgs__msg__Primitives__init(&msg_string);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.string_value, "testing"));
ret = rcl_publish(&publisher_in_namespace, &msg_string, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/* Testing the publisher init and fini functions.
*/
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_fini) {
rcl_ret_t ret;
// Setup valid inputs.
rcl_publisher_t publisher;
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "chatter";
rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();

// Check if null publisher is valid
EXPECT_FALSE(rcl_publisher_is_valid(nullptr));
rcl_reset_error();

// Check if zero initialized node is valid
publisher = rcl_get_zero_initialized_publisher();
EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();

// Check that valid publisher is valid
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_TRUE(rcl_publisher_is_valid(&publisher));
rcl_reset_error();

// Try passing null for publisher in init.
ret = rcl_publisher_init(nullptr, this->node_ptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing null for a node pointer in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, nullptr, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing an invalid (uninitialized) node in init.
publisher = rcl_get_zero_initialized_publisher();
rcl_node_t invalid_node = rcl_get_zero_initialized_node();
ret = rcl_publisher_init(&publisher, &invalid_node, ts, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing null for the type support in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(
&publisher, this->node_ptr, nullptr, topic_name, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing null for the topic name in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, nullptr, &default_publisher_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing null for the options in init.
publisher = rcl_get_zero_initialized_publisher();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing options with an invalid allocate in allocator with init.
publisher = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisher_options_with_invalid_allocator;
publisher_options_with_invalid_allocator = rcl_publisher_get_default_options();
publisher_options_with_invalid_allocator.allocator.allocate = nullptr;
ret = rcl_publisher_init(
&publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// Try passing options with an invalid deallocate in allocator with init.
publisher = rcl_get_zero_initialized_publisher();
publisher_options_with_invalid_allocator = rcl_publisher_get_default_options();
publisher_options_with_invalid_allocator.allocator.deallocate = nullptr;
ret = rcl_publisher_init(
&publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// An allocator with an invalid realloc will probably work (so we will not test it).

// Try passing options with a failing allocator with init.
publisher = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisher_options_with_failing_allocator;
publisher_options_with_failing_allocator = rcl_publisher_get_default_options();
publisher_options_with_failing_allocator.allocator.allocate = failing_malloc;
publisher_options_with_failing_allocator.allocator.reallocate = failing_realloc;
publisher_options_with_failing_allocator.allocator.zero_allocate = failing_calloc;
ret = rcl_publisher_init(
&publisher, this->node_ptr, ts, topic_name, &publisher_options_with_failing_allocator);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
Loading

0 comments on commit baacb5d

Please sign in to comment.