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Revamp the test_get_type_description_service. (#1095)
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1. Make it more robust to the network taking time
to do discovery.
2. Shorten the delay time when we expect things to fail.
3. Fix a possible leak during service_exists(), pointed
out by valgrind.
4. Remove unnecessary heap allocations in service_exists()
(we can just use the stack here).
5. Fix a definite leak during test teardown, where we were
forgetting to fini the node_type_description_service.

Signed-off-by: Chris Lalancette <[email protected]>
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@clalancette
clalancette authored Aug 24, 2023
1 parent 7c1b387 commit 1a025c6
Showing 1 changed file with 50 additions and 67 deletions.
117 changes: 50 additions & 67 deletions rcl/test/rcl/test_get_type_description_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,9 @@

#include <gtest/gtest.h>

#include <chrono>
#include <cstring>
#include <thread>

#include "rcl/error_handling.h"
#include "rcl/graph.h"
Expand Down Expand Up @@ -51,87 +53,61 @@ static bool string_in_array(rcutils_string_array_t * array, const char * pattern

static bool service_exists(
const rcl_node_t * node_ptr, const char * service_name,
const char * service_type)
const char * service_type, std::chrono::milliseconds timeout)
{
rcl_allocator_t allocator = rcl_get_default_allocator();

rcl_names_and_types_t * srv_names_and_types =
static_cast<rcl_names_and_types_t *>(allocator.allocate(
sizeof(rcl_names_and_types_t),
allocator.state));
if (nullptr == srv_names_and_types) {
return false;
}
EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_init(srv_names_and_types, 0, &allocator));
srv_names_and_types->names.data = NULL;
srv_names_and_types->names.size = 0;
srv_names_and_types->types = NULL;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(srv_names_and_types));
allocator.deallocate(srv_names_and_types, allocator.state);
});

if (
RCL_RET_OK != rcl_get_service_names_and_types(
node_ptr,
&allocator, srv_names_and_types))
{
return false;
}
// Wait for a maximum of timeout seconds for the service to show up
auto start_time = std::chrono::system_clock::now();
while (std::chrono::system_clock::now() - start_time < timeout) {
rcl_names_and_types_t srv_names_and_types = rcl_get_zero_initialized_names_and_types();

if (srv_names_and_types->names.size < 1) {
return false;
}

const bool srv_name_found = string_in_array(
&srv_names_and_types->names,
service_name);
if (
RCL_RET_OK != rcl_get_service_names_and_types(
node_ptr,
&allocator, &srv_names_and_types))
{
return false;
}

if (!srv_name_found) {return false;}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(&srv_names_and_types));
});

bool type_name_found = false;
for (size_t i = 0; i < srv_names_and_types->names.size; ++i) {
type_name_found = string_in_array(
&srv_names_and_types->types[i],
service_type);
if (type_name_found) {
break;
if (srv_names_and_types.names.size >= 1) {
if (string_in_array(&(srv_names_and_types.names), service_name)) {
for (size_t i = 0; i < srv_names_and_types.names.size; ++i) {
if (string_in_array(&(srv_names_and_types.types[i]), service_type)) {
return true;
}
}
}
}

std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

return type_name_found;
return false;
}

class CLASSNAME (TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
public:
rcl_context_t * context_ptr;
rcl_node_t * node_ptr;
char get_type_description_service_name[256];

virtual bool get_type_description_service_enabled() const
{
return true;
}

void SetUp()
{
rcl_ret_t ret;
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(
{
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;
});
this->context_ptr = new rcl_context_t;
*this->context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
*this->context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
this->node_ptr = new rcl_node_t;
*this->node_ptr = rcl_get_zero_initialized_node();
const char * name = "test_service_node";
Expand All @@ -149,7 +125,9 @@ class CLASSNAME (TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION) : public ::testi

void TearDown()
{
rcl_ret_t ret = rcl_node_fini(this->node_ptr);
rcl_ret_t ret = rcl_node_type_description_service_fini(node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_shutdown(this->context_ptr);
Expand All @@ -158,6 +136,11 @@ class CLASSNAME (TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION) : public ::testi
delete this->context_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

protected:
rcl_context_t * context_ptr;
rcl_node_t * node_ptr;
char get_type_description_service_name[256];
};


Expand All @@ -168,19 +151,19 @@ TEST_F(
EXPECT_TRUE(
service_exists(
this->node_ptr, this->get_type_description_service_name,
GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
GET_TYPE_DESCRIPTION_SRV_TYPE_NAME, std::chrono::seconds(5)));
EXPECT_EQ(RCL_RET_OK, rcl_node_type_description_service_fini(this->node_ptr));
EXPECT_FALSE(
service_exists(
this->node_ptr, this->get_type_description_service_name,
GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
GET_TYPE_DESCRIPTION_SRV_TYPE_NAME, std::chrono::milliseconds(100)));
EXPECT_EQ(RCL_RET_NOT_INIT, rcl_node_type_description_service_fini(this->node_ptr));

EXPECT_EQ(RCL_RET_OK, rcl_node_type_description_service_init(this->node_ptr));
EXPECT_TRUE(
service_exists(
this->node_ptr, this->get_type_description_service_name,
GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
GET_TYPE_DESCRIPTION_SRV_TYPE_NAME, std::chrono::seconds(5)));
EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_node_type_description_service_init(this->node_ptr));
}

Expand Down

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