From 6705b728fe85d71f8c11b1d30162455a817c58c0 Mon Sep 17 00:00:00 2001
From: brawner <brawner@gmail.com>
Date: Mon, 31 Aug 2020 12:52:17 -0700
Subject: [PATCH] Add fault injection macros for use in other packages (#254)

* Add fault injection macros for use in other packages

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* cxx/c flags

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* lint cmake

Signed-off-by: Stephen Brawner <brawner@gmail.com>
---
 rmw/CMakeLists.txt            |  5 +++++
 rmw/src/names_and_types.c     |  6 ++++++
 rmw/src/topic_endpoint_info.c | 18 ++++++++++++++++++
 3 files changed, 29 insertions(+)

diff --git a/rmw/CMakeLists.txt b/rmw/CMakeLists.txt
index 9873ec28..d8d6b58e 100644
--- a/rmw/CMakeLists.txt
+++ b/rmw/CMakeLists.txt
@@ -47,6 +47,11 @@ add_library(${PROJECT_NAME} ${rmw_sources})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
+
+if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
+endif()
+
 ament_target_dependencies(${PROJECT_NAME}
   "rcutils"
   "rosidl_runtime_c"
diff --git a/rmw/src/names_and_types.c b/rmw/src/names_and_types.c
index f4fa80c6..9baf512d 100644
--- a/rmw/src/names_and_types.c
+++ b/rmw/src/names_and_types.c
@@ -15,6 +15,7 @@
 #include "rmw/names_and_types.h"
 
 #include "rcutils/logging_macros.h"
+#include "rcutils/macros.h"
 #include "rcutils/types/string_array.h"
 #include "rmw/error_handling.h"
 #include "rmw/convert_rcutils_ret_to_rmw_ret.h"
@@ -34,6 +35,8 @@ rmw_get_zero_initialized_names_and_types(void)
 rmw_ret_t
 rmw_names_and_types_check_zero(rmw_names_and_types_t * names_and_types)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!names_and_types) {
     RMW_SET_ERROR_MSG("names_and_types is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -55,6 +58,9 @@ rmw_names_and_types_init(
   size_t size,
   rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_BAD_ALLOC);
+
   if (!allocator) {
     RMW_SET_ERROR_MSG("allocator is null");
     return RMW_RET_INVALID_ARGUMENT;
diff --git a/rmw/src/topic_endpoint_info.c b/rmw/src/topic_endpoint_info.c
index ee8cc4cd..5f6719ca 100644
--- a/rmw/src/topic_endpoint_info.c
+++ b/rmw/src/topic_endpoint_info.c
@@ -14,6 +14,7 @@
 
 #include "rmw/topic_endpoint_info.h"
 
+#include "rcutils/macros.h"
 #include "rcutils/strdup.h"
 #include "rmw/error_handling.h"
 #include "rmw/types.h"
@@ -71,6 +72,8 @@ rmw_topic_endpoint_info_fini(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
   rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!topic_endpoint_info) {
     RMW_SET_ERROR_MSG("topic_endpoint_info is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -105,6 +108,9 @@ _rmw_topic_endpoint_info_copy_str(
   const char * str,
   rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_BAD_ALLOC);
+
   if (!str) {
     RMW_SET_ERROR_MSG("str is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -134,6 +140,8 @@ rmw_topic_endpoint_info_set_topic_type(
   const char * topic_type,
   rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!topic_endpoint_info) {
     RMW_SET_ERROR_MSG("topic_endpoint_info is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -147,6 +155,8 @@ rmw_topic_endpoint_info_set_node_name(
   const char * node_name,
   rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!topic_endpoint_info) {
     RMW_SET_ERROR_MSG("topic_endpoint_info is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -160,6 +170,8 @@ rmw_topic_endpoint_info_set_node_namespace(
   const char * node_namespace,
   rcutils_allocator_t * allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!topic_endpoint_info) {
     RMW_SET_ERROR_MSG("topic_endpoint_info is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -175,6 +187,8 @@ rmw_topic_endpoint_info_set_endpoint_type(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
   rmw_endpoint_type_t type)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!topic_endpoint_info) {
     RMW_SET_ERROR_MSG("topic_endpoint_info is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -191,6 +205,8 @@ rmw_topic_endpoint_info_set_gid(
   const uint8_t gid[],
   size_t size)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!topic_endpoint_info) {
     RMW_SET_ERROR_MSG("topic_endpoint_info is null");
     return RMW_RET_INVALID_ARGUMENT;
@@ -209,6 +225,8 @@ rmw_topic_endpoint_info_set_qos_profile(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
   const rmw_qos_profile_t * qos_profile)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);
+
   if (!topic_endpoint_info) {
     RMW_SET_ERROR_MSG("topic_endpoint_info is null");
     return RMW_RET_INVALID_ARGUMENT;