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Add coverage tests wait module #769

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merged 10 commits into from
Sep 1, 2020
Merged

Add coverage tests wait module #769

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4306e2d
Add coverage tests wait module
Blast545 Aug 26, 2020
4c836b6
Add fault injection test
Blast545 Aug 31, 2020
4c5c4e3
Add removed blank line
Blast545 Aug 31, 2020
9000f99
Add zero_init allocator test to init
Blast545 Aug 31, 2020
c111d2a
Remove bomb allocator test
Blast545 Aug 31, 2020
6c2938c
Add better handling fault injection
Blast545 Aug 31, 2020
2ac1b42
Replace tabs
Blast545 Aug 31, 2020
bb3cdca
Fix uncrustify
Blast545 Aug 31, 2020
4074093
Add comment to fault injection tests
Blast545 Aug 31, 2020
ba06cb9
Move test to another section
Blast545 Sep 1, 2020
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2 changes: 1 addition & 1 deletion rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -265,7 +265,7 @@ function(test_target_function)
SRCS rcl/test_wait.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${PROJECT_NAME} mimick
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
)

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92 changes: 92 additions & 0 deletions rcl/test/rcl/test_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
#include "rcutils/logging_macros.h"

#include "./allocator_testing_utils.h"
#include "../mocking_utils/patch.hpp"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
Expand Down Expand Up @@ -646,6 +647,28 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_valid_argumen
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, &not_init_context, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_NOT_INIT, ret) << rcl_get_error_string().str;
rcl_reset_error();

// nullptr failures
ret =
rcl_wait_set_init(nullptr, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();

ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();

rcl_allocator_t zero_init_allocator =
static_cast<rcl_allocator_t>(rcutils_get_zero_initialized_allocator());
ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, zero_init_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();

ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -684,3 +707,72 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_get_allocator
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// Test wait set init failure cases using mocks
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
// Mock rmw implementation to fail init
auto mock = mocking_utils::patch_and_return(
"lib:rcl", rmw_create_wait_set, nullptr);
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, ret);
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
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@Blast545 shoud this two go to the test case immediately above? Also, should we test using an invalid (zero initialized) allocator?

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@Blast545 Blast545 Aug 31, 2020 •
edited
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You mean making them part of wait_set_get_allocator test?

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Oops, no, the one above that one, wait_set_valid_arguments. I misread the diff.

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Agree, moved with ba06cb9

}

// Test wait set fini failure cases using mocks
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_fini) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret);
{
// Mock rmw implementation to fail fini
auto mock = mocking_utils::inject_on_return(
"lib:rcl", rmw_destroy_wait_set, RMW_RET_ERROR);
EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, rcl_wait_set_fini(&wait_set));
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
}
}

// Test proper error handling with a fault injection test
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_test_maybe_init_fail) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = RCL_RET_OK;
rcl_allocator_t alloc = rcl_get_default_allocator();

RCUTILS_FAULT_INJECTION_TEST(
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I think these two fault injection blocks could use some comments describing what each one tests. Besides the initial capacities, they look the same to me.

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I used the two main coverage paths, I added an explanation with 4074093, let me know if you think it's clear

{
// Test init in the case where guard_conditions_size + timers_size = 0
// (used for guard condition size)
ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 1, 1, 0, context_ptr, alloc);
if (RCL_RET_OK == ret) {
ret = rcl_wait_set_fini(&wait_set);
if (ret != RCL_RET_OK) {
rcl_reset_error();
}
} else {
EXPECT_TRUE(RCL_RET_WAIT_SET_INVALID == ret || RCL_RET_BAD_ALLOC == ret);
rcl_reset_error();
}
});

RCUTILS_FAULT_INJECTION_TEST(
{
// Test init wait_set using at least one of each of the possible elements that receives
// (subs, guard conditions, timers, clients, services, events)
ret = rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 1, context_ptr, alloc);
if (RCL_RET_OK == ret) {
ret = rcl_wait_set_fini(&wait_set);
if (ret != RCL_RET_OK) {
rcl_reset_error();
}
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
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} else {
EXPECT_TRUE(RCL_RET_WAIT_SET_INVALID == ret || RCL_RET_BAD_ALLOC == ret);
rcl_reset_error();
}
});
}