-
Notifications
You must be signed in to change notification settings - Fork 192
Expand file tree
/
Copy pathtest_node.cpp
More file actions
1065 lines (976 loc) · 39.8 KB
/
test_node.cpp
File metadata and controls
1065 lines (976 loc) · 39.8 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include <regex>
#include <string>
#include <cstdlib>
#include "rcl/rcl.h"
#include "rcl/node.h"
#include "rmw/rmw.h" // For rmw_get_implementation_identifier.
#include "rmw/validate_namespace.h"
#include "rmw/validate_node_name.h"
#include "./failing_allocator_functions.hpp"
#include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcutils/env.h"
#include "rcutils/logging.h"
#include "rcutils/testing/fault_injection.h"
#include "rcl/error_handling.h"
#include "rcl/logging.h"
#include "rcl/logging_rosout.h"
#include "../mocking_utils/patch.hpp"
#include "./arg_macros.hpp"
#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
#else
# define CLASSNAME(NAME, SUFFIX) NAME
#endif
using osrf_testing_tools_cpp::memory_tools::on_unexpected_malloc;
using osrf_testing_tools_cpp::memory_tools::on_unexpected_realloc;
using osrf_testing_tools_cpp::memory_tools::on_unexpected_calloc;
using osrf_testing_tools_cpp::memory_tools::on_unexpected_free;
bool operator==(
const rmw_time_t & lhs,
const rmw_time_t & rhs)
{
return lhs.sec == rhs.sec && lhs.nsec == rhs.nsec;
}
bool operator==(
const rmw_qos_profile_t & lhs,
const rmw_qos_profile_t & rhs)
{
return lhs.history == rhs.history &&
lhs.depth == rhs.depth &&
lhs.reliability == rhs.reliability &&
lhs.durability == rhs.durability &&
lhs.deadline == rhs.deadline &&
lhs.lifespan == rhs.lifespan &&
lhs.liveliness == rhs.liveliness &&
lhs.liveliness_lease_duration == rhs.liveliness_lease_duration &&
lhs.avoid_ros_namespace_conventions == rhs.avoid_ros_namespace_conventions;
}
class CLASSNAME (TestNodeFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
public:
void SetUp()
{
auto common =
[](auto service, const char * name) {
// only fail if call originated in our library, librcl.<something>
std::regex pattern("/?librcl\\.");
auto st = service.get_stack_trace(); // nullptr if stack trace not available
if (st && st->matches_any_object_filename(pattern)) {
// Implicitly this means if one of the rmw implementations uses threads
// and does memory allocations in them, but the calls didn't originate
// from an rcl call, we will ignore it.
// The goal here is ensure that no rcl function or thread is using memory.
// Separate tests will be needed to ensure the rmw implementation does
// not allocate memory or cause it to be allocated.
service.print_backtrace();
ADD_FAILURE() << "Unexpected call to " << name << " originating from within librcl.";
}
};
osrf_testing_tools_cpp::memory_tools::initialize();
on_unexpected_malloc([common](auto service) {common(service, "malloc");});
on_unexpected_realloc([common](auto service) {common(service, "realloc");});
on_unexpected_calloc([common](auto service) {common(service, "calloc");});
on_unexpected_free([common](auto service) {common(service, "free");});
}
void TearDown()
{
osrf_testing_tools_cpp::memory_tools::uninitialize();
}
};
/* Tests the node accessors, i.e. rcl_node_get_* functions.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors) {
osrf_testing_tools_cpp::memory_tools::enable_monitoring_in_all_threads();
rcl_ret_t ret;
// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
EXPECT_EQ(RCL_RET_OK, rcl_init_options_set_domain_id(&init_options, 42));
rcl_context_t invalid_context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &invalid_context);
ASSERT_EQ(RCL_RET_OK, ret); // Shutdown later after invalid node.
// Create an invalid node (rcl_shutdown).
rcl_node_t invalid_node = rcl_get_zero_initialized_node();
const char * name = "test_rcl_node_accessors_node";
const char * namespace_ = "/ns";
const char * fq_name = "/ns/test_rcl_node_accessors_node";
rcl_node_options_t default_options = rcl_node_get_default_options();
ret = rcl_node_init(&invalid_node, name, namespace_, &invalid_context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
rcl_ret_t ret = rcl_node_fini(&invalid_node);
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&invalid_context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, ret);
});
ret = rcl_shutdown(&invalid_context); // Shutdown to invalidate the node.
ASSERT_EQ(RCL_RET_OK, ret);
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
// Create a zero init node.
rcl_node_t zero_node = rcl_get_zero_initialized_node();
// Create a normal node.
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, namespace_, &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
osrf_testing_tools_cpp::memory_tools::disable_monitoring_in_all_threads();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
});
// Test rcl_node_is_valid().
bool is_valid;
is_valid = rcl_node_is_valid(nullptr);
EXPECT_FALSE(is_valid);
rcl_reset_error();
is_valid = rcl_node_is_valid(&zero_node);
EXPECT_FALSE(is_valid);
rcl_reset_error();
// invalid node will be true for rcl_node_is_valid_except_context, but false for valid only
is_valid = rcl_node_is_valid_except_context(&invalid_node);
EXPECT_TRUE(is_valid);
rcl_reset_error();
is_valid = rcl_node_is_valid(&invalid_node);
EXPECT_FALSE(is_valid);
rcl_reset_error();
is_valid = rcl_node_is_valid(&node);
EXPECT_TRUE(is_valid);
rcl_reset_error();
// Test rcl_node_get_name().
const char * actual_node_name;
actual_node_name = rcl_node_get_name(nullptr);
EXPECT_EQ(nullptr, actual_node_name);
rcl_reset_error();
actual_node_name = rcl_node_get_name(&zero_node);
EXPECT_EQ(nullptr, actual_node_name);
rcl_reset_error();
actual_node_name = rcl_node_get_name(&invalid_node);
EXPECT_STREQ(name, actual_node_name);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_node_name = rcl_node_get_name(&node);
});
EXPECT_TRUE(actual_node_name ? true : false);
if (actual_node_name) {
EXPECT_STREQ(name, actual_node_name);
}
// Test rcl_node_get_namespace().
const char * actual_node_namespace;
actual_node_namespace = rcl_node_get_namespace(nullptr);
EXPECT_EQ(nullptr, actual_node_namespace);
rcl_reset_error();
actual_node_namespace = rcl_node_get_namespace(&zero_node);
EXPECT_EQ(nullptr, actual_node_namespace);
rcl_reset_error();
actual_node_namespace = rcl_node_get_namespace(&invalid_node);
EXPECT_STREQ(namespace_, actual_node_namespace);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_node_namespace = rcl_node_get_namespace(&node);
});
EXPECT_STREQ(namespace_, actual_node_namespace);
// Test rcl_node_get_fully_qualified_name().
const char * actual_fq_node_name;
actual_fq_node_name = rcl_node_get_fully_qualified_name(nullptr);
EXPECT_EQ(nullptr, actual_fq_node_name);
rcl_reset_error();
actual_fq_node_name = rcl_node_get_fully_qualified_name(&zero_node);
EXPECT_EQ(nullptr, actual_fq_node_name);
rcl_reset_error();
actual_fq_node_name = rcl_node_get_fully_qualified_name(&invalid_node);
EXPECT_STREQ(fq_name, actual_fq_node_name);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_fq_node_name = rcl_node_get_fully_qualified_name(&node);
});
EXPECT_STREQ(fq_name, actual_fq_node_name);
// Test rcl_node_get_logger_name().
const char * actual_node_logger_name;
actual_node_logger_name = rcl_node_get_logger_name(nullptr);
EXPECT_EQ(nullptr, actual_node_logger_name);
rcl_reset_error();
actual_node_logger_name = rcl_node_get_logger_name(&zero_node);
EXPECT_EQ(nullptr, actual_node_logger_name);
rcl_reset_error();
actual_node_logger_name = rcl_node_get_logger_name(&invalid_node);
EXPECT_NE(actual_node_logger_name, nullptr);
if (actual_node_logger_name) {
EXPECT_EQ("ns." + std::string(name), std::string(actual_node_logger_name));
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_node_logger_name = rcl_node_get_logger_name(&node);
});
EXPECT_NE(actual_node_logger_name, nullptr);
if (actual_node_logger_name) {
EXPECT_EQ("ns." + std::string(name), std::string(actual_node_logger_name));
}
// Test rcl_node_get_options().
const rcl_node_options_t * actual_options;
actual_options = rcl_node_get_options(nullptr);
EXPECT_EQ(nullptr, actual_options);
rcl_reset_error();
actual_options = rcl_node_get_options(&zero_node);
EXPECT_EQ(nullptr, actual_options);
rcl_reset_error();
actual_options = rcl_node_get_options(&invalid_node);
EXPECT_NE(nullptr, actual_options);
if (actual_options) {
EXPECT_EQ(default_options.allocator.allocate, actual_options->allocator.allocate);
}
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
actual_options = rcl_node_get_options(&node);
});
EXPECT_NE(nullptr, actual_options);
if (actual_options) {
EXPECT_EQ(default_options.allocator.allocate, actual_options->allocator.allocate);
}
// Test rcl_node_get_domain_id().
size_t actual_domain_id;
ret = rcl_node_get_domain_id(nullptr, &actual_domain_id);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_get_domain_id(&zero_node, &actual_domain_id);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_get_domain_id(&invalid_node, &actual_domain_id);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
ret = rcl_node_get_domain_id(&node, &actual_domain_id);
});
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(42u, actual_domain_id);
actual_domain_id = 0u;
EXPECT_NO_MEMORY_OPERATIONS(
{
ret = rcl_context_get_domain_id(&context, &actual_domain_id);
});
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(42u, actual_domain_id);
// Test rcl_node_get_rmw_handle().
rmw_node_t * node_handle;
node_handle = rcl_node_get_rmw_handle(nullptr);
EXPECT_EQ(nullptr, node_handle);
rcl_reset_error();
node_handle = rcl_node_get_rmw_handle(&zero_node);
EXPECT_EQ(nullptr, node_handle);
rcl_reset_error();
node_handle = rcl_node_get_rmw_handle(&invalid_node);
EXPECT_NE(nullptr, node_handle);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
node_handle = rcl_node_get_rmw_handle(&node);
});
EXPECT_NE(nullptr, node_handle);
// Test rcl_node_get_rcl_instance_id().
uint64_t instance_id;
instance_id = rcl_node_get_rcl_instance_id(nullptr);
EXPECT_EQ(0u, instance_id);
rcl_reset_error();
instance_id = rcl_node_get_rcl_instance_id(&zero_node);
EXPECT_EQ(0u, instance_id);
rcl_reset_error();
instance_id = rcl_node_get_rcl_instance_id(&invalid_node);
EXPECT_EQ(0u, instance_id);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
instance_id = rcl_node_get_rcl_instance_id(&node);
});
EXPECT_NE(0u, instance_id);
// Test rcl_node_get_graph_guard_condition
const rcl_guard_condition_t * graph_guard_condition;
graph_guard_condition = rcl_node_get_graph_guard_condition(nullptr);
EXPECT_EQ(nullptr, graph_guard_condition);
rcl_reset_error();
graph_guard_condition = rcl_node_get_graph_guard_condition(&zero_node);
EXPECT_EQ(nullptr, graph_guard_condition);
rcl_reset_error();
graph_guard_condition = rcl_node_get_graph_guard_condition(&invalid_node);
EXPECT_NE(nullptr, graph_guard_condition);
rcl_reset_error();
EXPECT_NO_MEMORY_OPERATIONS(
{
graph_guard_condition = rcl_node_get_graph_guard_condition(&node);
});
EXPECT_NE(nullptr, graph_guard_condition);
}
/* Tests the node life cycle, including rcl_node_init() and rcl_node_fini().
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle) {
rcl_ret_t ret;
rcl_context_t context = rcl_get_zero_initialized_context();
rcl_node_t node = rcl_get_zero_initialized_node();
const char * name = "test_rcl_node_life_cycle_node";
const char * namespace_ = "/ns";
rcl_node_options_t default_options = rcl_node_get_default_options();
// Trying to init before rcl_init() should fail.
ret = rcl_node_init(&node, name, "", &context, &default_options);
ASSERT_EQ(RCL_RET_NOT_INIT, ret) << "Expected RCL_RET_NOT_INIT";
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
// Try invalid arguments.
ret = rcl_node_init(nullptr, name, namespace_, &context, &default_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_init(&node, nullptr, namespace_, &context, &default_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_init(&node, name, nullptr, &context, &default_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_init(&node, name, namespace_, nullptr, &default_options);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_init(&node, name, namespace_, &context, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Try fini with invalid arguments.
ret = rcl_node_fini(nullptr);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << "Expected RCL_RET_NODE_INVALID";
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Try fini with an uninitialized node.
ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
// Try a normal init and fini.
ret = rcl_node_init(&node, name, namespace_, &context, &default_options);
EXPECT_EQ(RCL_RET_OK, ret);
ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
// Try repeated init and fini calls.
ret = rcl_node_init(&node, name, namespace_, &context, &default_options);
EXPECT_EQ(RCL_RET_OK, ret);
ret = rcl_node_init(&node, name, namespace_, &context, &default_options);
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << "Expected RCL_RET_ALREADY_INIT";
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_init_with_internal_errors) {
// We always call rcutils_logging_shutdown(), even if we didn't explicitly
// initialize it. That's because some internals of rcl may implicitly
// initialize it, so we have to do this not to leak memory. It doesn't
// hurt to call it if it was never initialized.
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCUTILS_RET_OK, rcutils_logging_shutdown());
});
rcl_ret_t ret;
rcl_context_t context = rcl_get_zero_initialized_context();
rcl_node_t node = rcl_get_zero_initialized_node();
const char * name = "test_rcl_node_init_with_internal_errors";
const char * namespace_ = "ns"; // force non-absolute namespace handling
rcl_node_options_t options = rcl_node_get_default_options();
options.enable_rosout = true; // enable logging to cover more ground
// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});
// Initialize logging and rosout.
ret = rcl_logging_configure(&context.global_arguments, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_logging_fini()) << rcl_get_error_string().str;
});
ret = rcl_logging_rosout_init(&allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_logging_rosout_fini()) << rcl_get_error_string().str;
});
// Try with invalid allocator.
rcl_node_options_t options_with_invalid_allocator = rcl_node_get_default_options();
options_with_invalid_allocator.allocator.allocate = nullptr;
options_with_invalid_allocator.allocator.deallocate = nullptr;
options_with_invalid_allocator.allocator.reallocate = nullptr;
ret = rcl_node_init(&node, name, namespace_, &context, &options_with_invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << "Expected RCL_RET_INVALID_ARGUMENT";
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Try with failing allocator.
rcl_node_options_t options_with_failing_allocator = rcl_node_get_default_options();
options_with_failing_allocator.allocator.allocate = failing_malloc;
options_with_failing_allocator.allocator.reallocate = failing_realloc;
ret = rcl_node_init(&node, name, namespace_, &context, &options_with_failing_allocator);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << "Expected RCL_RET_BAD_ALLOC";
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
// Try init but force internal errors.
{
auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_create_node, nullptr);
ret = rcl_node_init(&node, name, namespace_, &context, &options);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
{
auto mock = mocking_utils::patch_and_return(
"lib:rcl", rmw_node_get_graph_guard_condition, nullptr);
ret = rcl_node_init(&node, name, namespace_, &context, &options);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
{
auto mock = mocking_utils::patch_and_return(
"lib:rcl", rmw_validate_node_name, RMW_RET_ERROR);
ret = rcl_node_init(&node, name, namespace_, &context, &options);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
{
auto mock = mocking_utils::patch_and_return(
"lib:rcl", rmw_validate_namespace, RMW_RET_ERROR);
ret = rcl_node_init(&node, name, namespace_, &context, &options);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
// Try normal init but force an internal error on fini.
{
ret = rcl_node_init(&node, name, namespace_, &context, &options);
EXPECT_EQ(RCL_RET_OK, ret);
auto mock = mocking_utils::inject_on_return("lib:rcl", rmw_destroy_node, RMW_RET_ERROR);
ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcl_reset_error();
}
// Battle test node init.
RCUTILS_FAULT_INJECTION_TEST(
{
ret = rcl_node_init(&node, name, namespace_, &context, &options);
int64_t count = rcutils_fault_injection_get_count();
rcutils_fault_injection_set_count(RCUTILS_FAULT_INJECTION_NEVER_FAIL);
if (RCL_RET_OK == ret) {
ASSERT_TRUE(rcl_node_is_valid(&node));
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
} else {
rcl_reset_error();
ASSERT_FALSE(rcl_node_is_valid(&node));
rcl_reset_error();
}
rcutils_fault_injection_set_count(count);
});
}
/* Tests the node name restrictions enforcement.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_name_restrictions) {
rcl_ret_t ret;
// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
const char * namespace_ = "/ns";
rcl_node_options_t default_options = rcl_node_get_default_options();
// First do a normal node name.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "my_node_42", namespace_, &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node name with invalid characters.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "my_node_42$", namespace_, &context, &default_options);
ASSERT_EQ(RCL_RET_NODE_INVALID_NAME, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node name with /, which is valid in a topic, but not a node name.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "my/node_42", namespace_, &context, &default_options);
ASSERT_EQ(RCL_RET_NODE_INVALID_NAME, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node name with {}, which is valid in a topic, but not a node name.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "my_{node}_42", namespace_, &context, &default_options);
ASSERT_EQ(RCL_RET_NODE_INVALID_NAME, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
}
/* Tests the node namespace restrictions enforcement.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_namespace_restrictions) {
rcl_ret_t ret;
// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
const char * name = "node";
rcl_node_options_t default_options = rcl_node_get_default_options();
// First do a normal node namespace.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespace which is an empty string, which is also valid.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
ASSERT_STREQ("/", rcl_node_get_namespace(&node));
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespace which is just a forward slash, which is valid.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespaces with invalid characters.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/ns/{name}", &context, &default_options);
ASSERT_EQ(RCL_RET_NODE_INVALID_NAMESPACE, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/~/", &context, &default_options);
ASSERT_EQ(RCL_RET_NODE_INVALID_NAMESPACE, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespace with a trailing / which is not allowed.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/ns/foo/", &context, &default_options);
ASSERT_EQ(RCL_RET_NODE_INVALID_NAMESPACE, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespace which is not absolute, it should get / added automatically.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
ASSERT_STREQ("/ns", rcl_node_get_namespace(&node));
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Other reasons for being invalid, which are related to being part of a topic.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, name, "/starts/with/42number", &context, &default_options);
ASSERT_EQ(RCL_RET_NODE_INVALID_NAMESPACE, ret);
ASSERT_TRUE(rcl_error_is_set());
rcl_reset_error();
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
}
/* Tests the logger name as well as fully qualified name associated with the node.
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names) {
rcl_ret_t ret;
// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
const char * actual_node_logger_name;
const char * actual_node_name;
const char * actual_node_namespace;
const char * actual_node_fq_name;
rcl_node_options_t default_options = rcl_node_get_default_options();
// First do a normal node namespace.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "node", "/ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
actual_node_logger_name = rcl_node_get_logger_name(&node);
actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);
EXPECT_STREQ("ns.node", actual_node_logger_name);
EXPECT_STREQ("node", actual_node_name);
EXPECT_STREQ("/ns", actual_node_namespace);
EXPECT_STREQ("/ns/node", actual_node_fq_name);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespace that is an empty string.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "node", "", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
actual_node_logger_name = rcl_node_get_logger_name(&node);
actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);
EXPECT_STREQ("node", actual_node_logger_name);
EXPECT_STREQ("node", actual_node_name);
EXPECT_STREQ("/", actual_node_namespace);
EXPECT_STREQ("/node", actual_node_fq_name);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespace that is just a forward slash.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "node", "/", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
actual_node_logger_name = rcl_node_get_logger_name(&node);
actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);
EXPECT_STREQ("node", actual_node_logger_name);
EXPECT_STREQ("node", actual_node_name);
EXPECT_STREQ("/", actual_node_namespace);
EXPECT_STREQ("/node", actual_node_fq_name);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Node namespace that is not absolute.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "node", "ns", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
actual_node_logger_name = rcl_node_get_logger_name(&node);
actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);
EXPECT_STREQ("ns.node", actual_node_logger_name);
EXPECT_STREQ("node", actual_node_name);
EXPECT_STREQ("/ns", actual_node_namespace);
EXPECT_STREQ("/ns/node", actual_node_fq_name);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
// Nested namespace.
{
rcl_node_t node = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node, "node", "/ns/sub_1/sub_2", &context, &default_options);
ASSERT_EQ(RCL_RET_OK, ret);
actual_node_logger_name = rcl_node_get_logger_name(&node);
actual_node_name = rcl_node_get_name(&node);
actual_node_namespace = rcl_node_get_namespace(&node);
actual_node_fq_name = rcl_node_get_fully_qualified_name(&node);
EXPECT_STREQ("ns.sub_1.sub_2.node", actual_node_logger_name);
EXPECT_STREQ("node", actual_node_name);
EXPECT_STREQ("/ns/sub_1/sub_2", actual_node_namespace);
EXPECT_STREQ("/ns/sub_1/sub_2/node", actual_node_fq_name);
rcl_ret_t ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret);
}
}
/* Tests the node_options functionality
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
rcl_node_options_t default_options = rcl_node_get_default_options();
rcl_node_options_t not_ini_options = rcl_node_get_default_options();
memset(¬_ini_options.rosout_qos, 0, sizeof(rmw_qos_profile_t));
EXPECT_TRUE(default_options.use_global_arguments);
EXPECT_TRUE(default_options.enable_rosout);
EXPECT_EQ(rcl_qos_profile_rosout_default, default_options.rosout_qos);
EXPECT_TRUE(rcutils_allocator_is_valid(&(default_options.allocator)));
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(nullptr, &default_options));
rcl_reset_error();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, nullptr));
rcl_reset_error();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, &default_options));
rcl_reset_error();
const char * argv[] = {
"process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"};
int argc = sizeof(argv) / sizeof(const char *);
EXPECT_EQ(
RCL_RET_OK,
rcl_parse_arguments(argc, argv, default_options.allocator, &(default_options.arguments)));
default_options.use_global_arguments = false;
default_options.enable_rosout = false;
default_options.rosout_qos = rmw_qos_profile_default;
EXPECT_EQ(RCL_RET_OK, rcl_node_options_copy(&default_options, ¬_ini_options));
EXPECT_FALSE(not_ini_options.use_global_arguments);
EXPECT_FALSE(not_ini_options.enable_rosout);
EXPECT_EQ(default_options.rosout_qos, not_ini_options.rosout_qos);
EXPECT_EQ(
rcl_arguments_get_count_unparsed(&(default_options.arguments)),
rcl_arguments_get_count_unparsed(&(not_ini_options.arguments)));
EXPECT_EQ(
rcl_arguments_get_count_unparsed_ros(&(default_options.arguments)),
rcl_arguments_get_count_unparsed_ros(&(not_ini_options.arguments)));
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_fini(nullptr));
rcl_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&default_options));
EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(¬_ini_options));
}
/* Tests special case node_options
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options_fail) {
rcl_node_options_t prev_ini_options = rcl_node_get_default_options();
const char * argv[] = {"--ros-args"};
int argc = sizeof(argv) / sizeof(const char *);
EXPECT_EQ(
RCL_RET_OK,
rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &prev_ini_options.arguments));
rcl_node_options_t default_options = rcl_node_get_default_options();
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, &prev_ini_options));
rcl_reset_error();
EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&prev_ini_options.arguments));
}
/* Tests special case node_options
*/
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_resolve_name) {
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * final_name = NULL;
rcl_node_t node = rcl_get_zero_initialized_node();
// Invalid node
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_node_resolve_name(NULL, "my_topic", default_allocator, false, false, &final_name));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_ERROR,
rcl_node_resolve_name(&node, "my_topic", default_allocator, false, false, &final_name));
rcl_reset_error();
// Initialize rcl with rcl_init().
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
// Initialize node with default options
rcl_node_options_t options = rcl_node_get_default_options();
rcl_arguments_t local_arguments = rcl_get_zero_initialized_arguments();
const char * argv[] = {"process_name", "--ros-args", "-r", "/bar/foo:=/foo/local_args"};
unsigned int argc = (sizeof(argv) / sizeof(const char *));
ret = rcl_parse_arguments(
argc, argv, default_allocator, &local_arguments);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
options.arguments = local_arguments; // transfer ownership
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_node_options_fini(&options);
});
ret = rcl_node_init(&node, "node", "/ns", &context, &options);
ASSERT_EQ(RCL_RET_OK, ret);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node));
});
// Invalid arguments
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_node_resolve_name(&node, NULL, default_allocator, false, false, &final_name));
rcl_reset_error();
EXPECT_EQ(
RCL_RET_INVALID_ARGUMENT,
rcl_node_resolve_name(&node, "my_topic", default_allocator, false, false, NULL));
rcl_reset_error();
// Some valid options, test_remap and test_expand_topic_name already have good coverage
EXPECT_EQ(
RCL_RET_OK,
rcl_node_resolve_name(&node, "my_topic", default_allocator, false, false, &final_name));
ASSERT_TRUE(final_name);
EXPECT_STREQ("/ns/my_topic", final_name);
default_allocator.deallocate(final_name, default_allocator.state);
EXPECT_EQ(
RCL_RET_OK,
rcl_node_resolve_name(&node, "my_service", default_allocator, true, false, &final_name));
ASSERT_TRUE(final_name);
EXPECT_STREQ("/ns/my_service", final_name);
default_allocator.deallocate(final_name, default_allocator.state);
EXPECT_EQ(