Add basic ctrl_c_event_can_be_send_and_received test

Signed-off-by: Michael Orlov <[email protected]>

rosbag2_test_common/CMakeLists.txt

@@ -42,8 +42,26 @@ install(
   DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+  find_package(rcpputils REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  add_executable(loop_with_ctrl_c_handler test/rosbag2_test_common/loop_with_ctrl_c_handler.cpp)
+  install(
+      TARGETS loop_with_ctrl_c_handler
+      EXPORT export_loop_with_ctrl_c_handler
+      ARCHIVE DESTINATION lib
+      LIBRARY DESTINATION lib
+      RUNTIME DESTINATION bin
+  )
+
+  ament_add_gmock(test_process_execution_helpers
+    test/rosbag2_test_common/test_process_execution_helpers.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_process_execution_helpers)
+    target_link_libraries(test_process_execution_helpers ${PROJECT_NAME})
+  endif()
 endif()
 
 ament_python_install_package(${PROJECT_NAME})

rosbag2_test_common/package.xml

@@ -23,6 +23,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>rcpputils</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rosbag2_test_common/test/rosbag2_test_common/loop_with_ctrl_c_handler.cpp

@@ -0,0 +1,78 @@
+// Copyright 2023 Apex.AI, Inc. or its affiliates. All Rights Reserved.
+//
+// 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 <cstdio>
+#include <iostream>
+#include <thread>
+
+#ifdef _WIN32
+#include <windows.h>
+int main(void)
+{
+  // Enable default CTRL+C handler first. This is workaround and needed for the cases when
+  // process created with CREATE_NEW_PROCESS_GROUP flag. Without it, installing custom Ctrl+C
+  // handler will not work.
+  if (!SetConsoleCtrlHandler(nullptr, false)) {
+    std::cerr << "Error: Failed to enable default CTL+C handler. \n";
+  }
+
+  static std::atomic_bool running = true;
+  // Installing our own control handler
+  auto CtrlHandler = [](DWORD fdwCtrlType) -> BOOL {
+      switch (fdwCtrlType) {
+        case CTRL_C_EVENT:
+          printf("Ctrl-C event\n");
+          running = false;
+          return TRUE;
+        default:
+          return FALSE;
+      }
+    };
+  if (!SetConsoleCtrlHandler(CtrlHandler, TRUE)) {
+    std::cerr << "\nError. Can't install SIGINT handler\n";
+    return EXIT_FAILURE;
+  } else {
+    std::cout << "\nWaiting in a loop for CTRL+C event\n";
+    std::cout.flush();
+    while (running) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(30));
+    }
+  }
+  return EXIT_SUCCESS;
+}
+#else
+#include <csignal>
+
+int main()
+{
+  auto old_sigint_handler = std::signal(
+    SIGINT, [](int /* signal */) {
+      printf("Ctrl-C event\n");
+      exit(EXIT_SUCCESS);
+    });
+
+  if (old_sigint_handler != SIG_ERR) {
+    std::cout << "\nWaiting in a loop for CTRL+C event\n";
+    std::cout.flush();
+    while (1) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(30));
+    }
+  } else {
+    std::cerr << "\nError. Can't install SIGINT handler\n";
+    return EXIT_FAILURE;
+  }
+  return EXIT_SUCCESS;
+}
+
+#endif

rosbag2_test_common/test/rosbag2_test_common/test_process_execution_helpers.cpp

@@ -0,0 +1,44 @@
+// Copyright 2023 Apex.AI, Inc. or its affiliates. All Rights Reserved.
+//
+// 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 <gmock/gmock.h>
+
+#include "rosbag2_test_common/process_execution_helpers.hpp"
+#include "rcpputils/scope_exit.hpp"
+
+class ProcessExecutionHelpersTest : public ::testing::Test
+{
+public:
+  ProcessExecutionHelpersTest() = default;
+};
+
+TEST_F(ProcessExecutionHelpersTest, ctrl_c_event_can_be_send_and_received) {
+  testing::internal::CaptureStdout();
+  auto process_id = start_execution("loop_with_ctrl_c_handler");
+  auto cleanup_process_handle = rcpputils::make_scope_exit(
+    [process_id]() {
+      stop_execution(process_id);
+    });
+
+  // Sleep for 1 second to yield CPU resources to the newly spawned process, to make sure that
+  // signal handlers has been installed.
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+
+  std::string test_output = testing::internal::GetCapturedStdout();
+  EXPECT_THAT(test_output, HasSubstr("Waiting in a loop for CTRL+C event"));
+
+  // Send SIGINT to child process and check exit code
+  stop_execution(process_id, SIGINT);
+  cleanup_process_handle.cancel();
+}