Add tests bad type_support implementation (#152)

Signed-off-by: lobotuerk <[email protected]>
Co-authored-by: Michel Hidalgo <[email protected]>

test_rmw_implementation/test/test_client.cpp

@@ -143,6 +143,15 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_with_bad_arguments) {
   EXPECT_EQ(nullptr, client);
   rmw_reset_error();
 
+  rosidl_service_type_support_t * non_const_ts =
+    const_cast<rosidl_service_type_support_t *>(ts);
+  const char * typesupport_identifier = non_const_ts->typesupport_identifier;
+  non_const_ts->typesupport_identifier = "not-a-typesupport-identifier";
+  client = rmw_create_client(node, non_const_ts, service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+  non_const_ts->typesupport_identifier = typesupport_identifier;
+
   // Creating and destroying a client still succeeds.
   client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
   ASSERT_NE(nullptr, client) << rmw_get_error_string().str;

test_rmw_implementation/test/test_publisher.cpp

@@ -147,6 +147,15 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_with_bad_arguments)
   EXPECT_EQ(nullptr, pub);
   rmw_reset_error();
 
+  rosidl_message_type_support_t * non_const_ts =
+    const_cast<rosidl_message_type_support_t *>(ts);
+  const char * typesupport_identifier = non_const_ts->typesupport_identifier;
+  non_const_ts->typesupport_identifier = "not-a-typesupport-identifier";
+  pub = rmw_create_publisher(node, non_const_ts, topic_name, &rmw_qos_profile_default, &options);
+  EXPECT_EQ(nullptr, pub);
+  rmw_reset_error();
+  non_const_ts->typesupport_identifier = typesupport_identifier;
+
   // Creating and destroying a publisher still succeeds.
   pub = rmw_create_publisher(node, ts, topic_name, &rmw_qos_profile_default, &options);
   ASSERT_NE(nullptr, pub) << rmw_get_error_string().str;

test_rmw_implementation/test/test_serialize_deserialize.cpp

@@ -57,6 +57,24 @@ TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), serialize_with_b
   EXPECT_NE(RMW_RET_OK, rmw_serialize(&input_message, ts, &serialized_message));
   rmw_reset_error();
 
+  EXPECT_EQ(RMW_RET_OK, rmw_serialized_message_fini(&serialized_message)) <<
+    rmw_get_error_string().str;
+
+  rcutils_allocator_t default_allocator = rcutils_get_default_allocator();
+  ASSERT_EQ(
+    RMW_RET_OK, rmw_serialized_message_init(
+      &serialized_message, 0lu, &default_allocator)) << rmw_get_error_string().str;
+
+  rosidl_message_type_support_t * non_const_ts =
+    const_cast<rosidl_message_type_support_t *>(ts);
+  const char * typesupport_identifier = non_const_ts->typesupport_identifier;
+  non_const_ts->typesupport_identifier = "not-a-typesupport-identifier";
+
+  EXPECT_NE(RMW_RET_OK, rmw_serialize(&input_message, non_const_ts, &serialized_message));
+  rmw_reset_error();
+
+  non_const_ts->typesupport_identifier = typesupport_identifier;
+
   EXPECT_EQ(RMW_RET_OK, rmw_serialized_message_fini(&serialized_message)) <<
     rmw_get_error_string().str;
 }

test_rmw_implementation/test/test_service.cpp

@@ -144,6 +144,15 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_with_bad_arguments) {
   EXPECT_EQ(nullptr, srv);
   rmw_reset_error();
 
+  rosidl_service_type_support_t * non_const_ts =
+    const_cast<rosidl_service_type_support_t *>(ts);
+  const char * typesupport_identifier = non_const_ts->typesupport_identifier;
+  non_const_ts->typesupport_identifier = "not-a-typesupport-identifier";
+  srv = rmw_create_service(node, non_const_ts, service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+  non_const_ts->typesupport_identifier = typesupport_identifier;
+
   // Creating and destroying a service still succeeds.
   srv = rmw_create_service(node, ts, service_name, &rmw_qos_profile_default);
   ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;

test_rmw_implementation/test/test_subscription.cpp

@@ -150,6 +150,17 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_bad_argument
   EXPECT_EQ(nullptr, sub);
   rmw_reset_error();
 
+  rosidl_message_type_support_t * non_const_ts =
+    const_cast<rosidl_message_type_support_t *>(ts);
+  const char * typesupport_identifier = non_const_ts->typesupport_identifier;
+  non_const_ts->typesupport_identifier = "not-a-typesupport-identifier";
+  sub = rmw_create_subscription(
+    node, non_const_ts, topic_name,
+    &rmw_qos_profile_default, &options);
+  EXPECT_EQ(nullptr, sub);
+  rmw_reset_error();
+  non_const_ts->typesupport_identifier = typesupport_identifier;
+
   // Creating and destroying a subscription still succeeds.
   sub = rmw_create_subscription(node, ts, topic_name, &rmw_qos_profile_default, &options);
   ASSERT_NE(nullptr, sub) << rmw_get_error_string().str;