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// Copyright 2017 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 <vector>
#include "rcl/init.h"
#include "rcl/logging.h"
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/utilities.hpp"
#include "../mocking_utils/patch.hpp"
#include "../utils/rclcpp_gtest_macros.hpp"
TEST(TestUtilities, remove_ros_arguments) {
const char * const argv[] = {
"process_name",
"-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
};
int argc = sizeof(argv) / sizeof(const char *);
auto args = rclcpp::remove_ros_arguments(argc, argv);
ASSERT_EQ(4u, args.size());
ASSERT_EQ(std::string{"process_name"}, args[0]);
ASSERT_EQ(std::string{"-d"}, args[1]);
ASSERT_EQ(std::string{"--foo=bar"}, args[2]);
ASSERT_EQ(std::string{"--baz"}, args[3]);
}
TEST(TestUtilities, init_with_args) {
EXPECT_FALSE(rclcpp::signal_handlers_installed());
const char * const argv[] = {"process_name"};
int argc = sizeof(argv) / sizeof(const char *);
auto other_args = rclcpp::init_and_remove_ros_arguments(argc, argv);
ASSERT_EQ(1u, other_args.size());
ASSERT_EQ(std::string{"process_name"}, other_args[0]);
EXPECT_TRUE(rclcpp::signal_handlers_installed());
EXPECT_TRUE(rclcpp::ok());
rclcpp::shutdown();
}
TEST(TestUtilities, init_with_args_contains_ros) {
EXPECT_FALSE(rclcpp::signal_handlers_installed());
const char * const argv[] = {
"process_name",
"-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
};
int argc = sizeof(argv) / sizeof(const char *);
auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
ASSERT_EQ(4u, args.size());
ASSERT_EQ(std::string{"process_name"}, args[0]);
ASSERT_EQ(std::string{"-d"}, args[1]);
ASSERT_EQ(std::string{"--foo=bar"}, args[2]);
ASSERT_EQ(std::string{"--baz"}, args[3]);
EXPECT_TRUE(rclcpp::signal_handlers_installed());
EXPECT_TRUE(rclcpp::ok());
rclcpp::shutdown();
}
TEST(TestUtilities, multi_init) {
auto context1 = std::make_shared<rclcpp::contexts::DefaultContext>();
auto context2 = std::make_shared<rclcpp::contexts::DefaultContext>();
EXPECT_FALSE(rclcpp::ok(context1));
EXPECT_FALSE(rclcpp::ok(context2));
context1->init(0, nullptr);
EXPECT_TRUE(rclcpp::ok(context1));
EXPECT_FALSE(rclcpp::ok(context2));
context2->init(0, nullptr);
EXPECT_TRUE(rclcpp::ok(context1));
EXPECT_TRUE(rclcpp::ok(context2));
rclcpp::shutdown(context1);
EXPECT_FALSE(rclcpp::ok(context1));
EXPECT_TRUE(rclcpp::ok(context2));
rclcpp::shutdown(context2);
EXPECT_FALSE(rclcpp::ok(context1));
EXPECT_FALSE(rclcpp::ok(context2));
}
TEST(TestUtilities, test_context_basic_access) {
auto context1 = std::make_shared<rclcpp::contexts::DefaultContext>();
EXPECT_NE(nullptr, context1->get_init_options().get_rcl_init_options());
EXPECT_EQ(0u, context1->get_on_shutdown_callbacks().size());
EXPECT_EQ(std::string{""}, context1->shutdown_reason());
}
TEST(TestUtilities, test_context_basic_access_const_methods) {
auto context1 = std::make_shared<const rclcpp::contexts::DefaultContext>();
EXPECT_NE(nullptr, context1->get_init_options().get_rcl_init_options());
EXPECT_EQ(0u, context1->get_on_shutdown_callbacks().size());
}
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(TestUtilities, test_context_init_shutdown_fails) {
{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
auto context_fail_init = std::make_shared<rclcpp::contexts::DefaultContext>();
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_init, RCL_RET_ERROR);
EXPECT_THROW(context_fail_init->init(0, nullptr), rclcpp::exceptions::RCLError);
}
{
auto context_fail_init = std::make_shared<rclcpp::contexts::DefaultContext>();
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_logging_configure_with_output_handler, RCL_RET_ERROR);
EXPECT_THROW(context_fail_init->init(0, nullptr), rclcpp::exceptions::RCLError);
}
{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
// This will log a message, no throw expected
EXPECT_NO_THROW(context->shutdown(""));
}
{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_shutdown, RCL_RET_ERROR);
EXPECT_THROW(context->shutdown(""), rclcpp::exceptions::RCLError);
}
{
auto context = std::make_shared<rclcpp::contexts::DefaultContext>();
context->init(0, nullptr);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_logging_fini, RCL_RET_ERROR);
// This will log a message, no throw expected
EXPECT_NO_THROW(context->shutdown(""));
}
{
auto context_to_destroy = std::make_shared<rclcpp::contexts::DefaultContext>();
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
// This will log a message, no throw expected
EXPECT_NO_THROW({context_to_destroy.reset();});
}
}
// Required for mocking_utils below
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
TEST(TestUtilities, remove_ros_arguments_rcl_parse_arguments_failed) {
const char * const argv[] = {
"process_name",
"-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
};
int argc = sizeof(argv) / sizeof(const char *);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_parse_arguments, RCL_RET_ERROR);
RCLCPP_EXPECT_THROW_EQ(
rclcpp::remove_ros_arguments(argc, argv),
rclcpp::exceptions::RCLError(
RCL_RET_ERROR, rcl_get_error_state(), "failed to parse arguments"));
}
TEST(TestUtilities, remove_ros_arguments_rcl_remove_ros_arguments_failed) {
const char * const argv[] = {
"process_name",
"-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
};
int argc = sizeof(argv) / sizeof(const char *);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_remove_ros_arguments, RCL_RET_ERROR);
RCLCPP_EXPECT_THROW_EQ(
rclcpp::remove_ros_arguments(argc, argv),
rclcpp::exceptions::RCLError(
RCL_RET_ERROR, rcl_get_error_state(), ""));
}
TEST(TestUtilities, remove_ros_arguments_rcl_remove_ros_arguments_failed_and_fini) {
const char * const argv[] = {
"process_name",
"-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
};
int argc = sizeof(argv) / sizeof(const char *);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_remove_ros_arguments, RCL_RET_ERROR);
auto mock2 = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_arguments_fini, RCL_RET_ERROR);
RCLCPP_EXPECT_THROW_EQ(
rclcpp::remove_ros_arguments(argc, argv),
rclcpp::exceptions::RCLError(
RCL_RET_ERROR, rcl_get_error_state(),
", failed also to cleanup parsed arguments, leaking memory: "));
}
TEST(TestUtilities, remove_ros_arguments_rcl_arguments_fini_failed) {
const char * const argv[] = {
"process_name",
"-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
};
int argc = sizeof(argv) / sizeof(const char *);
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_arguments_fini, RCL_RET_ERROR);
RCLCPP_EXPECT_THROW_EQ(
rclcpp::remove_ros_arguments(argc, argv),
rclcpp::exceptions::RCLError(
RCL_RET_ERROR, rcl_get_error_state(), "failed to cleanup parsed arguments, leaking memory"));
}