Improve wait sets test coverage. (#683)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

rcl/test/rcl/test_wait.cpp

@@ -29,14 +29,20 @@
 
 #include "rcutils/logging_macros.h"
 
+#include "./allocator_testing_utils.h"
+
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
 # define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
 #else
 # define CLASSNAME(NAME, SUFFIX) NAME
 #endif
 
+#ifndef _WIN32
 #define TOLERANCE RCL_MS_TO_NS(6)
+#else
+#define TOLERANCE RCL_MS_TO_NS(15)
+#endif
 
 class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 {
@@ -86,6 +92,25 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_is_valid) {
  EXPECT_FALSE(rcl_wait_set_is_valid(&wait_set));
 }
 
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_failed_resize) {
+ // Initialize a wait set with a subscription and then resize it to zero.
+ rcl_allocator_t allocator = get_failing_allocator();
+ rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+ set_failing_allocator_is_failing(allocator, false);
+ rcl_ret_t ret =
+ rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, allocator);
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+ set_failing_allocator_is_failing(allocator, true);
+ ret = rcl_wait_set_resize(&wait_set, 0, 1, 0, 0, 0, 0);
+ EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
+ rcl_reset_error();
+
+ set_failing_allocator_is_failing(allocator, false);
+ ret = rcl_wait_set_fini(&wait_set);
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}
+
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
  // Initialize a wait set with a subscription and then resize it to zero.
  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
@@ -257,6 +282,49 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
  EXPECT_LE(diff, TOLERANCE);
 }
 
+// Test rcl_wait with a timeout value and an overrun timer
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_overrun_timer) {
+ rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+ rcl_ret_t ret =
+ rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+ {
+ ret = rcl_wait_set_fini(&wait_set);
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ });
+ rcl_clock_t clock;
+ rcl_allocator_t allocator = rcl_get_default_allocator();
+ ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
+ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+ {
+ ret = rcl_clock_fini(&clock);
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ });
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+ rcl_timer_t timer = rcl_get_zero_initialized_timer();
+ ret = rcl_timer_init(
+ &timer, &clock, this->context_ptr, 0, nullptr, rcl_get_default_allocator());
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+ {
+ ret = rcl_timer_fini(&timer);
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ });
+ ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
+ EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+ // Time spent during wait should be negligible, definitely less than the given timeout
+ std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
+ ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
+ std::chrono::steady_clock::time_point after_sc = std::chrono::steady_clock::now();
+ // We don't expect a timeout here (since the guard condition had already been triggered)
+ ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+ int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
+ EXPECT_LE(diff, RCL_MS_TO_NS(50));
+}
+
 // Check that a canceled timer doesn't wake up rcl_wait
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();