/* Tests the rcl_system_time_point_now() function.
*/
TEST_F(TestTimeFixture, test_rcl_system_time_point_now) {
assert_no_realloc_begin();
rcl_ret_t ret;
// Check for invalid argument error condition (allowed to alloc).
ret = rcl_system_time_point_now(nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string_safe();
rcl_reset_error();
assert_no_malloc_begin();
assert_no_free_begin();
// Check for normal operation (not allowed to alloc).
rcl_system_time_point_t now = {0};
ret = rcl_system_time_point_now(&now);
assert_no_malloc_end();
assert_no_realloc_end();
assert_no_free_end();
stop_memory_checking();
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_NE(now.nanoseconds, 0u);
// Compare to std::chrono::system_clock time (within a second).
now = {0};
ret = rcl_system_time_point_now(&now);
{
std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now_sc.time_since_epoch());
int64_t now_ns_int = now_ns.count();
int64_t now_diff = now.nanoseconds - now_ns_int;
const int k_tolerance_ms = 1000;
EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "system_clock differs";
}
}
void
throw_from_rcl_error(rcl_ret_t ret, const std::string & prefix, bool reset_error)
{
if (RCL_RET_OK == ret) {
throw std::invalid_argument("ret is RCL_RET_OK");
}
const rcl_error_state_t * error_state = rcl_get_error_state();
if (!error_state) {
throw std::runtime_error("rcl error state is not set");
}
std::string formated_prefix = prefix;
if (!prefix.empty()) {
formated_prefix += ": ";
}
RCLErrorBase base_exc(ret, error_state);
if (reset_error) {
rcl_reset_error();
}
switch (ret) {
case RCL_RET_BAD_ALLOC:
throw RCLBadAlloc(base_exc);
case RCL_RET_INVALID_ARGUMENT:
throw RCLInvalidArgument(base_exc, formated_prefix);
default:
throw RCLError(base_exc, formated_prefix);
}
}
/* Tests the rcl_steady_time_point_now() function.
*/
TEST_F(TestTimeFixture, test_rcl_steady_time_point_now) {
assert_no_realloc_begin();
rcl_ret_t ret;
// Check for invalid argument error condition (allowed to alloc).
ret = rcl_steady_time_point_now(nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string_safe();
rcl_reset_error();
assert_no_malloc_begin();
assert_no_free_begin();
// Check for normal operation (not allowed to alloc).
rcl_steady_time_point_t now = {0};
ret = rcl_steady_time_point_now(&now);
assert_no_malloc_end();
assert_no_realloc_end();
assert_no_free_end();
stop_memory_checking();
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_NE(now.nanoseconds, 0u);
// Compare to std::chrono::steady_clock difference of two times (within a second).
now = {0};
ret = rcl_steady_time_point_now(&now);
std::chrono::steady_clock::time_point now_sc = std::chrono::steady_clock::now();
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
// Wait for a little while.
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// Then take a new timestamp with each and compare.
rcl_steady_time_point_t later;
ret = rcl_steady_time_point_now(&later);
std::chrono::steady_clock::time_point later_sc = std::chrono::steady_clock::now();
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
int64_t steady_diff = later.nanoseconds - now.nanoseconds;
int64_t sc_diff =
std::chrono::duration_cast<std::chrono::nanoseconds>(later_sc - now_sc).count();
const int k_tolerance_ms = 1;
EXPECT_LE(llabs(steady_diff - sc_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "steady_clock differs";
}
/* 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());
}
