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Complete init/shutdown API test coverage. #107

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merged 4 commits into from
Jul 1, 2020
Merged

Complete init/shutdown API test coverage. #107

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f4a05ec
Complete init/shutdown API test coverage.
hidmic Jun 19, 2020
9bff7f2
Address peer review comments.
hidmic Jun 22, 2020
2a097e4
Please linter.
hidmic Jun 22, 2020
bc7aa7f
Update init/shutdown API tests.
hidmic Jun 24, 2020
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86 changes: 80 additions & 6 deletions test_rmw_implementation/test/test_init_shutdown.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,20 +28,94 @@
# define CLASSNAME(NAME, SUFFIX) NAME
#endif

class CLASSNAME (TestInitShutdown, RMW_IMPLEMENTATION) : public ::testing::Test {};
class CLASSNAME (TestInitShutdown, RMW_IMPLEMENTATION) : public ::testing::Test
{
protected:
void SetUp() override
{
options = rmw_get_zero_initialized_init_options();
rmw_ret_t ret = rmw_init_options_init(&options, rcutils_get_default_allocator());
ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
}

void TearDown() override
{
rmw_ret_t ret = rmw_init_options_fini(&options);
EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
}

rmw_init_options_t options;
};

TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_with_bad_arguments) {
rmw_context_t context = rmw_get_zero_initialized_context();
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init(nullptr, &context));
rcutils_reset_error();

context = rmw_get_zero_initialized_context();
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init(&options, nullptr));
rcutils_reset_error();

const char * implementation_identifier = options.implementation_identifier;
options.implementation_identifier = "not-a-real-rmw-implementation-identifier";
EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, rmw_init(&options, &context));
options.implementation_identifier = implementation_identifier;
rcutils_reset_error();
}

TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), shutdown_with_bad_arguments) {
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_shutdown(nullptr));
rcutils_reset_error();

TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_shutdown) {
rmw_context_t context = rmw_get_zero_initialized_context();
rmw_init_options_t options = rmw_get_zero_initialized_init_options();
rmw_ret_t ret = rmw_init_options_init(&options, rcutils_get_default_allocator());
EXPECT_NE(RMW_RET_OK, rmw_shutdown(&context));
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Is there a specific error you are expecting? RMW_RET_ERROR?

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@hidmic hidmic Jun 22, 2020 •
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Based on rmw_shutdown() API contract, an RMW implementation could equally return RMW_RET_INVALID_ARGUMENT or RMW_RET_INCORRECT_IMPLEMENTATION. That's why I don't check for a specific return code.

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Since you already test the incorrect_implementation error below, wouldn't it make more sense to test the invalid_argument error here? Set context.implementation_identifier to a known valid identifier, then check that it returns invalid argument?

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@hidmic hidmic Jun 22, 2020 •
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Hmm, problem is that we get into bad initialization territory. Here I deal with the four (4) known context states: zero-initialized, initialized and not shutdown, initialized and shutdown, finalized. Anything outside that is UB. So if we want to be specific about the assertion we have to further clarify API contracts i.e. what it means for a context to be invalid for all rmw implementations.

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If you don't want to monkey around with the identifier field to force the invalid argument, then I recommend to at least narrow down the expect statement to only two errors you expect. Something like:

EXPECT_TRUE((ret == RMW_RET_INVALID_ARGUMENT || 
             ret == RMW_RET_INCORRECT_IMPLEMENTATION))

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Sure, we can do that. See 9bff7f2

rcutils_reset_error();

rmw_ret_t ret = rmw_init(&options, &context);
ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rmw_ret_t ret = rmw_init_options_fini(&options);
rmw_ret_t ret = rmw_shutdown(&context);
EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
ret = rmw_context_fini(&context);
EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
});

ret = rmw_init(&options, &context);
const char * implementation_identifier = context.implementation_identifier;
context.implementation_identifier = "not-a-real-rmw-implementation-identifier";
EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, rmw_shutdown(&context));
context.implementation_identifier = implementation_identifier;
rcutils_reset_error();
}

TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), context_fini_with_bad_arguments) {
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_context_fini(nullptr));
rcutils_reset_error();

rmw_context_t context = rmw_get_zero_initialized_context();
rmw_ret_t ret = rmw_init(&options, &context);
ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rmw_ret_t ret = rmw_shutdown(&context);
EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
ret = rmw_context_fini(&context);
EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
});

const char * implementation_identifier = context.implementation_identifier;
context.implementation_identifier = "not-a-real-rmw-implementation-identifier";
EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, rmw_context_fini(&context));
context.implementation_identifier = implementation_identifier;
rcutils_reset_error();

EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_context_fini(&context));
rcutils_reset_error();
}

TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_shutdown) {
rmw_context_t context = rmw_get_zero_initialized_context();
rmw_ret_t ret = rmw_init(&options, &context);
ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
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