304b51c3a1
* Fix the lifecycle tests on RHEL-9. The full explanation is in the comment, but basically since RHEL doesn't support mocking_utils::inject_on_return, we have to split out certain tests to make sure resources within a process don't collide. Signed-off-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
// Copyright 2024 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <memory>
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#include <stdexcept>
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#include <string>
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#include "rcl_lifecycle/rcl_lifecycle.h"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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#include "./mocking_utils/patch.hpp"
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class TestDefaultStateMachine : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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static void TearDownTestCase()
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{
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rclcpp::shutdown();
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}
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};
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class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
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{
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public:
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explicit EmptyLifecycleNode(const std::string & node_name)
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: rclcpp_lifecycle::LifecycleNode(node_name)
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{}
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};
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// This test is split out of test_lifecycle_node.cpp for an esoteric reason. When running on
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// RedHat-based distributions (like Fedora or RHEL), the way that glibc is compiled does not
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// allow mocking_utils::inject_on_return to work. Thus the test has to patch_and_return().
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// Unfortunately, this means that the resources are not actually cleaned up, and thus other tests
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// may return incorrect results. By having it in a separate process we ensure that the resources
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// will at least be cleaned up by the process dying.
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TEST_F(TestDefaultStateMachine, empty_initializer_rcl_errors)
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{
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{
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auto patch = mocking_utils::patch_and_return(
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"lib:rclcpp_lifecycle", rcl_lifecycle_state_machine_init, RCL_RET_ERROR);
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EXPECT_THROW(
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std::make_shared<EmptyLifecycleNode>("testnode").reset(),
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std::runtime_error);
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}
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{
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auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
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auto patch = mocking_utils::patch_and_return(
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"lib:rclcpp_lifecycle", rcl_lifecycle_state_machine_fini, RCL_RET_ERROR);
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EXPECT_NO_THROW(test_node.reset());
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}
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}
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