/* Tests the rcl_get_instance_id() and rcl_ok() functions.
*/
TEST_F(TestRCLFixture, test_rcl_get_instance_id_and_ok) {
rcl_ret_t ret;
// Instance id should be 0 before rcl_init().
EXPECT_EQ(0u, rcl_get_instance_id());
ASSERT_FALSE(rcl_ok());
// It should still return 0 after an invalid init.
ret = rcl_init(1, nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
EXPECT_EQ(0u, rcl_get_instance_id());
ASSERT_FALSE(rcl_ok());
// A non-zero instance id should be returned after a valid init.
{
FakeTestArgv test_args;
ret = rcl_init(test_args.argc, test_args.argv, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret);
ASSERT_TRUE(rcl_ok());
}
// And it should be allocation free.
uint64_t first_instance_id;
assert_no_malloc_begin();
assert_no_realloc_begin();
assert_no_free_begin();
first_instance_id = rcl_get_instance_id();
assert_no_malloc_end();
assert_no_realloc_end();
assert_no_free_end();
EXPECT_NE(0u, first_instance_id);
EXPECT_EQ(first_instance_id, rcl_get_instance_id()); // Repeat calls should return the same.
EXPECT_EQ(true, rcl_ok());
// Calling after a shutdown should return 0.
ret = rcl_shutdown();
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(0u, rcl_get_instance_id());
ASSERT_FALSE(rcl_ok());
// It should return a different value after another valid init.
{
FakeTestArgv test_args;
ret = rcl_init(test_args.argc, test_args.argv, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret);
ASSERT_TRUE(rcl_ok());
}
EXPECT_NE(0u, rcl_get_instance_id());
EXPECT_NE(first_instance_id, rcl_get_instance_id());
ASSERT_TRUE(rcl_ok());
// Shutting down a second time should result in 0 again.
ret = rcl_shutdown();
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(0u, rcl_get_instance_id());
ASSERT_FALSE(rcl_ok());
}
void TearDown()
{
assert_no_malloc_end();
assert_no_realloc_end();
assert_no_free_end();
stop_memory_checking();
set_on_unexpected_malloc_callback(nullptr);
set_on_unexpected_realloc_callback(nullptr);
set_on_unexpected_free_callback(nullptr);
rcl_ret_t ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
/* Tests the rcl_init(), rcl_ok(), and rcl_shutdown() functions.
*/
TEST_F(TestRCLFixture, test_rcl_init_and_ok_and_shutdown) {
rcl_ret_t ret;
// A shutdown before any init has been called should fail.
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_NOT_INIT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_ok());
// If argc is not 0, but argv is, it should be an invalid argument.
ret = rcl_init(42, nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_ok());
// If either the allocate or deallocate function pointers are not set, it should be invalid arg.
rcl_allocator_t invalid_allocator = rcl_get_default_allocator();
invalid_allocator.allocate = nullptr;
ret = rcl_init(0, nullptr, invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_ok());
invalid_allocator.allocate = rcl_get_default_allocator().allocate;
invalid_allocator.deallocate = nullptr;
ret = rcl_init(0, nullptr, invalid_allocator);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_ok());
// If the malloc call fails (with some valid arguments to copy), it should be a bad alloc.
{
FakeTestArgv test_args;
rcl_allocator_t failing_allocator = rcl_get_default_allocator();
failing_allocator.allocate = &failing_malloc;
failing_allocator.deallocate = failing_free;
failing_allocator.reallocate = failing_realloc;
ret = rcl_init(test_args.argc, test_args.argv, failing_allocator);
EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_ok());
}
// If argc is 0 and argv is nullptr and the allocator is valid, it should succeed.
ret = rcl_init(0, nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret);
ASSERT_TRUE(rcl_ok());
// Then shutdown should work.
ret = rcl_shutdown();
EXPECT_EQ(ret, RCL_RET_OK);
ASSERT_FALSE(rcl_ok());
// Valid argc/argv values and a valid allocator should succeed.
{
FakeTestArgv test_args;
ret = rcl_init(test_args.argc, test_args.argv, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret);
ASSERT_TRUE(rcl_ok());
}
// Then shutdown should work.
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_OK, ret);
ASSERT_FALSE(rcl_ok());
// A repeat call to shutdown should not work.
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_NOT_INIT, ret);
rcl_reset_error();
ASSERT_FALSE(rcl_ok());
// Repeat, but valid, calls to rcl_init() should fail.
{
FakeTestArgv test_args;
ret = rcl_init(test_args.argc, test_args.argv, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret);
ASSERT_TRUE(rcl_ok());
ret = rcl_init(test_args.argc, test_args.argv, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_ALREADY_INIT, ret);
rcl_reset_error();
ASSERT_TRUE(rcl_ok());
}
// But shutdown should still work.
ret = rcl_shutdown();
EXPECT_EQ(ret, RCL_RET_OK);
ASSERT_FALSE(rcl_ok());
}
