Add tests for native entity getters

rmw_fastrtps_cpp/CMakeLists.txt

@@ -134,6 +134,17 @@ register_rmw_implementation(
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(osrf_testing_tools_cpp REQUIRED)
+  find_package(test_msgs REQUIRED)
+
+  ament_add_gtest(test_get_native_entities
+    test/test_get_native_entities.cpp)
+  ament_target_dependencies(test_get_native_entities
+    osrf_testing_tools_cpp rcutils rmw test_msgs
+  )
+  target_link_libraries(test_get_native_entities rmw_fastrtps_cpp)
 endif()
 
 ament_package(

rmw_fastrtps_cpp/package.xml

@@ -45,8 +45,11 @@
   <exec_depend>rmw</exec_depend>
   <exec_depend>rmw_fastrtps_shared_cpp</exec_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
+  <test_depend>test_msgs</test_depend>
 
   <member_of_group>rmw_implementation_packages</member_of_group>
 

rmw_fastrtps_cpp/test/test_get_native_entities.cpp

@@ -0,0 +1,173 @@
+// 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 "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "rcutils/allocator.h"
+#include "rcutils/strdup.h"
+
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+
+#include "rmw_fastrtps_cpp/get_client.hpp"
+#include "rmw_fastrtps_cpp/get_participant.hpp"
+#include "rmw_fastrtps_cpp/get_publisher.hpp"
+#include "rmw_fastrtps_cpp/get_service.hpp"
+#include "rmw_fastrtps_cpp/get_subscriber.hpp"
+
+#include "test_msgs/msg/basic_types.h"
+#include "test_msgs/srv/basic_types.h"
+
+class TestNativeEntities : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+    rmw_ret_t ret = rmw_init_options_init(&options, rcutils_get_default_allocator());
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      rmw_ret_t ret = rmw_init_options_fini(&options);
+      EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    });
+    options.enclave = rcutils_strdup("/", rcutils_get_default_allocator());
+    ASSERT_STREQ("/", options.enclave);
+    ret = rmw_init(&options, &context);
+    ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    constexpr char node_name[] = "my_node";
+    constexpr char node_namespace[] = "/my_ns";
+    node = rmw_create_node(&context, node_name, node_namespace);
+    ASSERT_NE(nullptr, node) << rmw_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_node(node);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_shutdown(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_context_fini(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  }
+
+  rmw_context_t context{rmw_get_zero_initialized_context()};
+  rmw_node_t * node{nullptr};
+};
+
+TEST_F(TestNativeEntities, get_participant) {
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_participant(nullptr));
+
+  const char * implementation_identifier = node->implementation_identifier;
+  node->implementation_identifier = "not-an-rmw-implementation-identifier";
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_participant(node));
+  node->implementation_identifier = implementation_identifier;
+
+  EXPECT_NE(nullptr, rmw_fastrtps_cpp::get_participant(node));
+}
+
+TEST_F(TestNativeEntities, get_publisher) {
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_publisher(nullptr));
+
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
+  constexpr char topic_name[] = "/test";
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
+  rmw_publisher_options_t options = rmw_get_default_publisher_options();
+  rmw_publisher_t * pub = rmw_create_publisher(node, ts, topic_name, &qos_profile, &options);
+  ASSERT_NE(nullptr, pub) << rmw_get_error_string().str;
+
+  const char * implementation_identifier = pub->implementation_identifier;
+  pub->implementation_identifier = "not-an-rmw-implementation-identifier";
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_publisher(pub));
+  pub->implementation_identifier = implementation_identifier;
+
+  EXPECT_NE(nullptr, rmw_fastrtps_cpp::get_publisher(pub));
+
+  rmw_ret_t ret = rmw_destroy_publisher(node, pub);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(TestNativeEntities, get_subscriber) {
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_subscriber(nullptr));
+
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
+  constexpr char topic_name[] = "/test";
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
+  rmw_subscription_options_t options = rmw_get_default_subscription_options();
+  rmw_subscription_t * sub =
+    rmw_create_subscription(node, ts, topic_name, &qos_profile, &options);
+  ASSERT_NE(nullptr, sub) << rmw_get_error_string().str;
+
+  const char * implementation_identifier = sub->implementation_identifier;
+  sub->implementation_identifier = "not-an-rmw-implementation-identifier";
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_subscriber(sub));
+  sub->implementation_identifier = implementation_identifier;
+
+  EXPECT_NE(nullptr, rmw_fastrtps_cpp::get_subscriber(sub));
+
+  rmw_ret_t ret = rmw_destroy_subscription(node, sub);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(TestNativeEntities, get_service) {
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_request_subscriber(nullptr));
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_response_publisher(nullptr));
+
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+  constexpr char service_name[] = "/test";
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
+  rmw_service_t * srv = rmw_create_service(node, ts, service_name, &qos_profile);
+  ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;
+
+  const char * implementation_identifier = srv->implementation_identifier;
+  srv->implementation_identifier = "not-an-rmw-implementation-identifier";
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_request_subscriber(srv));
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_response_publisher(srv));
+  srv->implementation_identifier = implementation_identifier;
+
+  EXPECT_NE(nullptr, rmw_fastrtps_cpp::get_request_subscriber(srv));
+  EXPECT_NE(nullptr, rmw_fastrtps_cpp::get_response_publisher(srv));
+
+  rmw_ret_t ret = rmw_destroy_service(node, srv);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(TestNativeEntities, get_client) {
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_request_publisher(nullptr));
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_response_subscriber(nullptr));
+
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+  constexpr char service_name[] = "/test";
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
+  rmw_client_t * client = rmw_create_client(node, ts, service_name, &qos_profile);
+  ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
+
+  const char * implementation_identifier = client->implementation_identifier;
+  client->implementation_identifier = "not-an-rmw-implementation-identifier";
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_request_publisher(client));
+  EXPECT_EQ(nullptr, rmw_fastrtps_cpp::get_response_subscriber(client));
+  client->implementation_identifier = implementation_identifier;
+
+  EXPECT_NE(nullptr, rmw_fastrtps_cpp::get_request_publisher(client));
+  EXPECT_NE(nullptr, rmw_fastrtps_cpp::get_response_subscriber(client));
+
+  rmw_ret_t ret = rmw_destroy_client(node, client);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -144,6 +144,17 @@ register_rmw_implementation(
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(osrf_testing_tools_cpp REQUIRED)
+  find_package(test_msgs REQUIRED)
+
+  ament_add_gtest(test_get_native_entities
+    test/test_get_native_entities.cpp)
+  ament_target_dependencies(test_get_native_entities
+    osrf_testing_tools_cpp rcutils rmw test_msgs
+  )
+  target_link_libraries(test_get_native_entities rmw_fastrtps_dynamic_cpp)
 endif()
 
 ament_package(

rmw_fastrtps_dynamic_cpp/package.xml

@@ -41,8 +41,11 @@
   <build_export_depend>rosidl_typesupport_introspection_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_introspection_cpp</build_export_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
+  <test_depend>test_msgs</test_depend>
 
   <member_of_group>rmw_implementation_packages</member_of_group>