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Add coverage tests for rcl #703

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merged 22 commits into from
Jul 7, 2020
Merged

Add coverage tests for rcl #703

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d282d62
Add tests not empty names_and_types
Blast545 Jun 24, 2020
70b1671
Add tests graph.c module
Blast545 Jun 25, 2020
cb9fe4e
Add tests remap basic usage
Blast545 Jun 26, 2020
cc6c7bb
Add more tests remap module
Blast545 Jun 26, 2020
a3548ab
Add tests ini/fini publisher_node
Blast545 Jun 29, 2020
afbcbb9
Refactor style and naming
Blast545 Jun 29, 2020
dfb9597
Add nullptr bad arg
Blast545 Jun 29, 2020
0dc75ea
Add tests bad args
Blast545 Jun 30, 2020
42e3835
Add test bad_alloc
Blast545 Jun 30, 2020
21bc3c5
Add missing source file
Blast545 Jun 30, 2020
1cf8153
Remove not working test
Blast545 Jul 1, 2020
3c202f6
Remove extra rcl_reset_error
Blast545 Jul 1, 2020
967b2a7
Change ASSERT to EXPECT when fini scope
Blast545 Jul 1, 2020
583d23b
Add const for const arguments
Blast545 Jul 2, 2020
9d8867a
Add missing fini parsed arguments
Blast545 Jul 2, 2020
f26e72f
Add error string to output
Blast545 Jul 2, 2020
78b4929
Add invalid usage comments to test
Blast545 Jul 2, 2020
2de2107
Fix lint line length issues
Blast545 Jul 2, 2020
8a1522a
Fix uncrustify lint
Blast545 Jul 3, 2020
ecce49a
Modify test to save alloc struct
Blast545 Jul 3, 2020
2c75c60
Remove internal source file
Blast545 Jul 7, 2020
897a408
Remove case requiring internal def
Blast545 Jul 7, 2020
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4 changes: 3 additions & 1 deletion rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -170,14 +170,16 @@ function(test_target_function)
SRCS rcl/test_arguments.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "rcpputils"
)

rcl_add_custom_gtest(test_remap${target_suffix}
SRCS rcl/test_remap.cpp
SRCS rcl/test_remap.cpp ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/remap.c
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
)
Expand Down
89 changes: 89 additions & 0 deletions rcl/test/rcl/test_arguments.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,9 @@

#include "rcl_yaml_param_parser/parser.h"

#include "./allocator_testing_utils.h"
#include "./arguments_impl.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
Expand Down Expand Up @@ -281,6 +284,60 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args) {
rcl_reset_error();
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_negative_args) {
int argc = -1;
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const char * argv[] = {"process_name"};
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rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_parse_args) {
const char * argv[] = {"process_name"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_allocator_t bad_alloc = get_failing_allocator();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, bad_alloc, &parsed_args);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_unparse_args) {
const char * argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_allocator_t bad_alloc = get_failing_allocator();
rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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EXPECT_EQ(2, rcl_arguments_get_count_unparsed(&parsed_args));

int * actual_unparsed = NULL;
EXPECT_EQ(
RCL_RET_BAD_ALLOC, rcl_arguments_get_unparsed(&parsed_args, bad_alloc, &actual_unparsed));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_BAD_ALLOC, rcl_arguments_get_unparsed_ros(&parsed_args, bad_alloc, &actual_unparsed));
rcl_reset_error();
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}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_params_get_counts) {
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed(nullptr));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed_ros(nullptr));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_param_files_count(nullptr));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed(&parsed_args));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_count_unparsed_ros(&parsed_args));
rcl_reset_error();
EXPECT_EQ(-1, rcl_arguments_get_param_files_count(&parsed_args));
rcl_reset_error();
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args_output) {
const char * argv[] = {"process_name"};
int argc = sizeof(argv) / sizeof(const char *);
Expand Down Expand Up @@ -402,6 +459,11 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy) {
ret = rcl_arguments_copy(&parsed_args, &copied_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Can't copy to non empty
ret = rcl_arguments_copy(&parsed_args, &copied_args);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_UNPARSED(parsed_args, 0, 8);
EXPECT_UNPARSED_ROS(parsed_args, 2);
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
Expand All @@ -411,6 +473,27 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy) {
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_bad_alloc) {
const char * argv[] = {"process_name", "--ros-args", "/foo/bar:="};
int argc = sizeof(argv) / sizeof(const char *);
rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
rcl_ret_t ret;

ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &parsed_args);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_arguments_t copied_args = rcl_get_zero_initialized_arguments();
rcl_allocator_t bad_alloc = get_failing_allocator();
rcl_allocator_t * saved_alloc = &parsed_args.impl->allocator;
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parsed_args.impl->allocator = bad_alloc;
ret = rcl_arguments_copy(&parsed_args, &copied_args);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
rcl_reset_error();
parsed_args.impl->allocator = *saved_alloc;

EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
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}

TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_ros_args) {
const char * argv[] = {"process_name", "--ros-args", "--", "arg", "--ros-args"};
int argc = sizeof(argv) / sizeof(const char *);
Expand Down Expand Up @@ -565,6 +648,12 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_remove_ros_
argv, &parsed_args, zero_initialized_allocator, &nonros_argc, &nonros_argv));
rcl_reset_error();

rcl_allocator_t bad_alloc = get_failing_allocator();
EXPECT_EQ(
RCL_RET_BAD_ALLOC, rcl_remove_ros_arguments(
argv, &parsed_args, bad_alloc, &nonros_argc, &nonros_argv));
rcl_reset_error();

EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT, rcl_remove_ros_arguments(
argv, &parsed_args, default_allocator, NULL, &nonros_argv));
Expand Down
195 changes: 193 additions & 2 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ TEST_F(
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_names_and_types_t tnat {};
rcl_names_and_types_t tnat = rcl_get_zero_initialized_names_and_types();
rcl_node_t zero_node = rcl_get_zero_initialized_node();
// invalid node
ret = rcl_get_topic_names_and_types(nullptr, &allocator, false, &tnat);
Expand All @@ -172,6 +172,11 @@ TEST_F(
ret = rcl_get_topic_names_and_types(this->node_ptr, &allocator, false, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
tnat.names.size = 1;
ret = rcl_get_topic_names_and_types(this->node_ptr, &allocator, false, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
tnat.names.size = 0;
// invalid argument to rcl_destroy_topic_names_and_types
ret = rcl_names_and_types_fini(nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
Expand All @@ -195,7 +200,7 @@ TEST_F(
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
rcutils_get_zero_initialized_allocator());
rcl_names_and_types_t tnat {};
rcl_names_and_types_t tnat = rcl_get_zero_initialized_names_and_types();
rcl_node_t zero_node = rcl_get_zero_initialized_node();
// invalid node
ret = rcl_get_service_names_and_types(nullptr, &allocator, &tnat);
Expand All @@ -218,6 +223,11 @@ TEST_F(
ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
tnat.names.size = 1;
ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, &tnat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
tnat.names.size = 0;
// invalid argument to rcl_destroy_service_names_and_types
ret = rcl_names_and_types_fini(nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -334,6 +344,12 @@ TEST_F(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 1;
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 0;
// unknown node name
ret = rcl_get_publisher_names_and_types_by_node(
this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
Expand Down Expand Up @@ -419,6 +435,12 @@ TEST_F(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 1;
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 0;
// unknown node name
ret = rcl_get_subscriber_names_and_types_by_node(
this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
Expand Down Expand Up @@ -501,6 +523,12 @@ TEST_F(
this->node_ptr, &allocator, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 1;
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 0;
// unknown node name
ret = rcl_get_service_names_and_types_by_node(
this->node_ptr, &allocator, unknown_node_name, "", &nat);
Expand Down Expand Up @@ -584,6 +612,12 @@ TEST_F(
this->node_ptr, &allocator, this->test_graph_node_name, "", nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 1;
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, this->test_graph_node_name, "", &nat);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
rcl_reset_error();
nat.names.size = 0;
// unknown node name
ret = rcl_get_client_names_and_types_by_node(
this->node_ptr, &allocator, unknown_node_name, "", &nat);
Expand Down Expand Up @@ -1354,3 +1388,160 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
wait_for_service_state_to_change(false, is_available);
ASSERT_FALSE(is_available);
}

/* Test passing invalid params to server_is_available
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_bad_server_available) {
// Create a client which will be used to call the function.
rcl_client_t client = rcl_get_zero_initialized_client();
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
const char * service_name = "/service_test_rcl_service_server_is_available";
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_ret_t ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
// Check, knowing there is no service server (created by us at least).
bool is_available;
ret = rcl_service_server_is_available(this->node_ptr, &client, &is_available);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_FALSE(is_available);

ret = rcl_service_server_is_available(nullptr, &client, &is_available);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
rcl_reset_error();
rcl_node_t not_init_node = rcl_get_zero_initialized_node();
ret = rcl_service_server_is_available(&not_init_node, &client, &is_available);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
rcl_reset_error();
}

/* Test passing invalid params to get_node_names functions
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_bad_get_node_names) {
rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();

rcutils_string_array_t node_names_2 = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_namespaces_2 = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_enclaves = rcutils_get_zero_initialized_string_array();
rcl_ret_t ret = RCL_RET_OK;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcutils_string_array_fini(&node_names);
EXPECT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_namespaces);
EXPECT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_enclaves);
EXPECT_EQ(RCUTILS_RET_OK, ret);
});
rcl_allocator_t allocator = rcl_get_default_allocator();

ret = rcl_get_node_names(nullptr, allocator, &node_names, &node_namespaces);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
rcl_reset_error();
ret = rcl_get_node_names_with_enclaves(
nullptr, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
rcl_reset_error();

rcl_node_t not_init_node = rcl_get_zero_initialized_node();
ret = rcl_get_node_names(&not_init_node, allocator, &node_names, &node_namespaces);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
rcl_reset_error();
ret = rcl_get_node_names_with_enclaves(
&not_init_node, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
rcl_reset_error();

ret = rcl_get_node_names(this->node_ptr, allocator, nullptr, &node_namespaces);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, nullptr, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

ret = rcl_get_node_names(this->node_ptr, allocator, &node_names, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, nullptr, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, &node_namespaces, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();

node_names.size = 1;
ret = rcl_get_node_names(this->node_ptr, allocator, &node_names, &node_namespaces);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
node_names.size = 0;

ret = rcutils_string_array_init(&node_names, 1, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
node_names.size = 0;
ret = rcl_get_node_names(this->node_ptr, allocator, &node_names, &node_namespaces);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
node_names.size = 1;
ret = rcutils_string_array_fini(&node_names);
EXPECT_EQ(RCL_RET_OK, ret);

node_namespaces.size = 1;
ret = rcl_get_node_names(this->node_ptr, allocator, &node_names, &node_namespaces);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
node_namespaces.size = 0;

ret = rcutils_string_array_init(&node_namespaces, 1, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
node_namespaces.size = 0;
ret = rcl_get_node_names(this->node_ptr, allocator, &node_names, &node_namespaces);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
node_namespaces.size = 1;
ret = rcutils_string_array_fini(&node_namespaces);
EXPECT_EQ(RCL_RET_OK, ret);

node_enclaves.size = 1;
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
node_enclaves.size = 0;

ret = rcutils_string_array_init(&node_enclaves, 1, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
node_enclaves.size = 0;
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names, &node_namespaces, &node_enclaves);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
node_enclaves.size = 1;
ret = rcutils_string_array_fini(&node_enclaves);
EXPECT_EQ(RCL_RET_OK, ret);

// Expected usage
ret = rcl_get_node_names(this->node_ptr, allocator, &node_names, &node_namespaces);
EXPECT_EQ(RCL_RET_OK, ret);
ret = rcl_get_node_names_with_enclaves(
this->node_ptr, allocator, &node_names_2, &node_namespaces_2, &node_enclaves);
EXPECT_EQ(RCL_RET_OK, ret);
}
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