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test_node_base.cpp
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// Copyright 2020 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 <memory>
#include <string>
#include "rcl/node_options.h"
#include "rclcpp/node.hpp"
#include "rclcpp/node_interfaces/node_base.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rmw/validate_namespace.h"
#include "rmw/validate_node_name.h"
#include "../../mocking_utils/patch.hpp"
#include "../../utils/rclcpp_gtest_macros.hpp"
class TestNodeBase : public ::testing::Test
{
public:
void SetUp()
{
rclcpp::init(0, nullptr);
}
void TearDown()
{
rclcpp::shutdown();
}
};
// Required for mocking_utils below
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, ==)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, !=)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, <)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcl_guard_condition_options_t, >)
TEST_F(TestNodeBase, construct_from_node)
{
std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
// This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
// the proper type is being tested and covered.
auto * node_base =
dynamic_cast<rclcpp::node_interfaces::NodeBase *>(node->get_node_base_interface().get());
ASSERT_NE(nullptr, node_base);
EXPECT_STREQ("node", node_base->get_name());
EXPECT_STREQ("/ns", node_base->get_namespace());
EXPECT_STREQ("/ns/node", node_base->get_fully_qualified_name());
EXPECT_NE(nullptr, node_base->get_context());
EXPECT_NE(nullptr, node_base->get_rcl_node_handle());
EXPECT_NE(nullptr, node_base->get_shared_rcl_node_handle());
const auto * const_node_base = node_base;
EXPECT_NE(nullptr, const_node_base->get_rcl_node_handle());
EXPECT_NE(nullptr, const_node_base->get_shared_rcl_node_handle());
}
TEST_F(TestNodeBase, construct_destruct_rcl_guard_condition_init_error) {
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_guard_condition_init, RCL_RET_ERROR);
EXPECT_THROW(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
rclcpp::exceptions::RCLError);
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_error) {
auto mock_node_init = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_node_init, RCL_RET_ERROR);
// This function is called only if rcl_node_init fails, so both mocked functions are required
// This just logs an error, so behavior shouldn't change
auto mock_guard_condition_fini = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
EXPECT_THROW(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
rclcpp::exceptions::RCLError);
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_node_name) {
auto mock_node_init = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAME);
// `rmw_validate_node_name` is only called if `rcl_node_init` returns INVALID_NAME
auto mock_validate_node_name = mocking_utils::patch_and_return(
"lib:rclcpp", rmw_validate_node_name, RMW_RET_ERROR);
EXPECT_THROW(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
rclcpp::exceptions::RCLError);
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_node_name_invalid_argument) {
auto mock_node_init = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAME);
// `rmw_validate_node_name` is only called if `rcl_node_init` returns INVALID_NAME
auto mock_validate_node_name = mocking_utils::patch_and_return(
"lib:rclcpp", rmw_validate_node_name, RMW_RET_INVALID_ARGUMENT);
EXPECT_THROW(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
rclcpp::exceptions::RCLInvalidArgument);
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_node_name_valid_rmw_node_name) {
auto mock_node_init = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAME);
// `rmw_validate_node_name` is only called if `rcl_node_init` returns INVALID_NAME
auto mock = mocking_utils::patch(
"lib:rclcpp", rmw_validate_node_name, [](const char *, int * validation_result, size_t *)
{
*validation_result = RMW_NODE_NAME_VALID;
return RMW_RET_OK;
});
RCLCPP_EXPECT_THROW_EQ(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
std::runtime_error("valid rmw node name but invalid rcl node name"));
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_namespace) {
auto mock_node_init = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAMESPACE);
// `rmw_validate_namespace` is only called if `rcl_node_init` returns INVALID_NAMESPACE
auto mock_validate_namespace = mocking_utils::patch_and_return(
"lib:rclcpp", rmw_validate_namespace, RMW_RET_ERROR);
EXPECT_THROW(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
rclcpp::exceptions::RCLError);
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_namespace_rmw_invalid_argument) {
auto mock_node_init = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAMESPACE);
// `rmw_validate_namespace` is only called if `rcl_node_init` returns INVALID_NAMESPACE
auto mock_validate_namespace = mocking_utils::patch_and_return(
"lib:rclcpp", rmw_validate_namespace, RMW_RET_INVALID_ARGUMENT);
EXPECT_THROW(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
rclcpp::exceptions::RCLInvalidArgument);
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_rcl_invalid_namespace_valid_rmw_namespace) {
auto mock_node_init = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_node_init, RCL_RET_NODE_INVALID_NAMESPACE);
// `rmw_validate_namespace` is only called if `rcl_node_init` returns INVALID_NAMESPACE
auto mock = mocking_utils::patch(
"lib:rclcpp", rmw_validate_namespace, [](const char *, int * validation_result, size_t *)
{
*validation_result = RMW_NAMESPACE_VALID;
return RMW_RET_OK;
});
RCLCPP_EXPECT_THROW_EQ(
std::make_shared<rclcpp::Node>("node", "ns").reset(),
std::runtime_error("valid rmw node namespace but invalid rcl node namespace"));
}
TEST_F(TestNodeBase, construct_destruct_rcl_node_init_fini_error) {
auto mock_node_fini = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_node_fini, RCL_RET_ERROR);
EXPECT_NO_THROW(std::make_shared<rclcpp::Node>("node", "ns").reset());
}
TEST_F(TestNodeBase, construct_destruct_rcl_guard_condition_fini_error) {
auto mock_node_fini = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
EXPECT_NO_THROW(std::make_shared<rclcpp::Node>("node", "ns").reset());
}