Enable deadline tests for FastRTPS (#438)
* improve robustness of test_events Signed-off-by: Miaofei <miaofei@amazon.com> * refactor code Signed-off-by: Miaofei <miaofei@amazon.com> * enable testing of fastrtps Signed-off-by: Miaofei <miaofei@amazon.com> * fix failing tests and remove useless tests Signed-off-by: Miaofei <miaofei@amazon.com> * disable liveliness tests for fastrtps as it is not supported Signed-off-by: Miaofei <miaofei@amazon.com>
This commit is contained in:
M. M
Dirk Thomas
parent
7984f94423
commit
4e0b33f8a8
1 changed files with 194 additions and 246 deletions
|
|
@ -27,11 +27,14 @@
|
|||
|
||||
#include "osrf_testing_tools_cpp/scope_exit.hpp"
|
||||
|
||||
using namespace std::chrono_literals;
|
||||
using std::chrono::milliseconds;
|
||||
using std::chrono::seconds;
|
||||
using std::chrono::duration_cast;
|
||||
|
||||
constexpr seconds LIVELINESS_LEASE_DURATION_IN_S(1);
|
||||
constexpr seconds DEADLINE_PERIOD_IN_S(1);
|
||||
constexpr seconds LIVELINESS_LEASE_DURATION_IN_S = 1s;
|
||||
constexpr seconds DEADLINE_PERIOD_IN_S = 2s;
|
||||
constexpr seconds MAX_WAIT_PER_TESTCASE = 10s;
|
||||
|
||||
#ifdef RMW_IMPLEMENTATION
|
||||
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
|
||||
|
|
@ -47,9 +50,7 @@ public:
|
|||
{
|
||||
is_opensplice = (std::string(rmw_get_implementation_identifier()).find("rmw_opensplice") == 0);
|
||||
is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
|
||||
|
||||
// TODO(mm318): Revisit once FastRTPS supports these QoS policies
|
||||
is_unsupported = is_fastrtps;
|
||||
is_manual_liveliness_unsupported = is_fastrtps;
|
||||
|
||||
rcl_ret_t ret;
|
||||
{
|
||||
|
|
@ -82,6 +83,7 @@ public:
|
|||
// init publisher
|
||||
publisher = rcl_get_zero_initialized_publisher();
|
||||
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
|
||||
publisher_options.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
|
||||
publisher_options.qos.deadline = deadline;
|
||||
publisher_options.qos.lifespan = lifespan;
|
||||
publisher_options.qos.liveliness = liveliness_policy;
|
||||
|
|
@ -103,6 +105,7 @@ public:
|
|||
// init publisher
|
||||
subscription = rcl_get_zero_initialized_subscription();
|
||||
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
|
||||
subscription_options.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
|
||||
subscription_options.qos.deadline = deadline;
|
||||
subscription_options.qos.lifespan = lifespan;
|
||||
subscription_options.qos.liveliness = liveliness_policy;
|
||||
|
|
@ -125,7 +128,8 @@ public:
|
|||
rmw_time_t lifespan {0, 0};
|
||||
rmw_time_t deadline {DEADLINE_PERIOD_IN_S.count(), 0};
|
||||
rmw_time_t lease_duration {LIVELINESS_LEASE_DURATION_IN_S.count(), 0};
|
||||
rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
|
||||
rmw_qos_liveliness_policy_t liveliness_policy = is_manual_liveliness_unsupported ?
|
||||
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC : RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
|
||||
|
||||
// init publisher
|
||||
ret = setup_publisher(deadline, lifespan, lease_duration, liveliness_policy);
|
||||
|
|
@ -205,21 +209,21 @@ protected:
|
|||
rcl_event_t subscription_event;
|
||||
bool is_fastrtps;
|
||||
bool is_opensplice;
|
||||
bool is_unsupported;
|
||||
bool is_manual_liveliness_unsupported;
|
||||
const char * topic = "rcl_test_publisher_subscription_events";
|
||||
const rosidl_message_type_support_t * ts;
|
||||
};
|
||||
|
||||
rcl_ret_t
|
||||
wait_for_msgs_and_events(
|
||||
rcl_context_t * context,
|
||||
rcl_subscription_t * subscription,
|
||||
rcl_event_t * subscription_event,
|
||||
rcl_event_t * publisher_event,
|
||||
rcl_context_t * context,
|
||||
int64_t period_ms,
|
||||
bool * msg_ready,
|
||||
bool * subscription_event_ready,
|
||||
bool * publisher_event_ready)
|
||||
bool * publisher_event_ready,
|
||||
seconds period = 1s)
|
||||
{
|
||||
*msg_ready = false;
|
||||
*subscription_event_ready = false;
|
||||
|
|
@ -256,7 +260,7 @@ wait_for_msgs_and_events(
|
|||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
|
||||
ret = rcl_wait(&wait_set, RCL_S_TO_NS(period.count()));
|
||||
if (ret == RCL_RET_TIMEOUT) {
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -277,7 +281,7 @@ wait_for_msgs_and_events(
|
|||
}
|
||||
}
|
||||
|
||||
return RCL_RET_OK;
|
||||
return ret;
|
||||
}
|
||||
|
||||
/// Conditional function for determining when the wait_for_msgs_and_events loop is complete.
|
||||
|
|
@ -297,79 +301,46 @@ using WaitConditionPredicate = std::function<
|
|||
)>;
|
||||
|
||||
// Wait for msgs and events until all conditions are met or a timeout has occured.
|
||||
template<typename S, typename P>
|
||||
rcl_ret_t
|
||||
conditional_wait_for_msgs_and_events(
|
||||
rcl_context_t * context,
|
||||
seconds timeout,
|
||||
const WaitConditionPredicate & events_ready,
|
||||
rcl_subscription_t * subscription,
|
||||
rcl_event_t * subscription_event,
|
||||
rcl_event_t * publisher_event,
|
||||
rcl_context_t * context,
|
||||
int64_t period_ms,
|
||||
bool * msg_persist_ready,
|
||||
bool * subscription_persist_ready,
|
||||
bool * publisher_persist_ready,
|
||||
test_msgs__msg__Strings * msg,
|
||||
S * subscription_discrete_event,
|
||||
P * publisher_discrete_event)
|
||||
bool * publisher_persist_ready)
|
||||
{
|
||||
*msg_persist_ready = false;
|
||||
*subscription_persist_ready = false;
|
||||
*publisher_persist_ready = false;
|
||||
auto timeout = milliseconds(2000);
|
||||
|
||||
auto start_time = std::chrono::system_clock::now();
|
||||
while (std::chrono::system_clock::now() - start_time < timeout) {
|
||||
bool msg_ready, subscription_event_ready, publisher_event_ready;
|
||||
do {
|
||||
|
||||
// wait for msg and events
|
||||
wait_for_msgs_and_events(subscription, subscription_event, publisher_event,
|
||||
context, period_ms, &msg_ready, &subscription_event_ready, &publisher_event_ready);
|
||||
// test that the message published to topic is as expected
|
||||
if (msg_ready) {
|
||||
EXPECT_EQ(rcl_take(subscription, msg, nullptr, nullptr), RCL_RET_OK);
|
||||
}
|
||||
if (subscription_event_ready && subscription_discrete_event) {
|
||||
EXPECT_EQ(rcl_take_event(subscription_event, subscription_discrete_event), RCL_RET_OK);
|
||||
}
|
||||
if (publisher_event_ready && publisher_discrete_event) {
|
||||
EXPECT_EQ(rcl_take_event(publisher_event, publisher_discrete_event), RCL_RET_OK);
|
||||
rcl_ret_t ret = wait_for_msgs_and_events(
|
||||
context, subscription, subscription_event, publisher_event,
|
||||
&msg_ready, &subscription_event_ready, &publisher_event_ready);
|
||||
if (RCL_RET_OK != ret) {
|
||||
continue;
|
||||
}
|
||||
|
||||
*msg_persist_ready |= msg_ready;
|
||||
*subscription_persist_ready |= subscription_event_ready;
|
||||
*publisher_persist_ready |= publisher_event_ready;
|
||||
if (std::chrono::system_clock::now() - start_time > timeout) {
|
||||
return RCL_RET_TIMEOUT;
|
||||
}
|
||||
} while (!(events_ready(*msg_persist_ready,
|
||||
*subscription_persist_ready,
|
||||
*publisher_persist_ready)));
|
||||
if (events_ready(*msg_persist_ready, *subscription_persist_ready, *publisher_persist_ready)) {
|
||||
return RCL_RET_OK;
|
||||
}
|
||||
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_lifespan) {
|
||||
if (is_unsupported) {
|
||||
rmw_time_t deadline {0, 0};
|
||||
rmw_time_t lifespan {1, 0};
|
||||
rmw_time_t lease_duration {1, 0};
|
||||
rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_subscriber(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized subscriber lifespan when unsupported";
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_publisher(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized publisher lifespan when unsupported";
|
||||
|
||||
lifespan = {0, 1};
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_subscriber(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized subscriber lifespan when unsupported";
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_publisher(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized publisher lifespan when unsupported";
|
||||
}
|
||||
}
|
||||
return RCL_RET_TIMEOUT;
|
||||
}
|
||||
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_liveliness) {
|
||||
if (is_unsupported) {
|
||||
if (is_manual_liveliness_unsupported) {
|
||||
rmw_time_t deadline {0, 0};
|
||||
rmw_time_t lifespan {0, 0};
|
||||
rmw_time_t lease_duration {0, 0};
|
||||
|
|
@ -395,192 +366,11 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_livelin
|
|||
}
|
||||
}
|
||||
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_unsupported_deadline) {
|
||||
if (is_unsupported) {
|
||||
rmw_time_t deadline {1, 0};
|
||||
rmw_time_t lifespan {0, 0};
|
||||
rmw_time_t lease_duration {0, 0};
|
||||
rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_subscriber(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized subscriber deadline when unsupported";
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_publisher(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized publisher deadline when unsupported";
|
||||
|
||||
deadline = {0, 1};
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_subscriber(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized subscriber deadline when unsupported";
|
||||
EXPECT_EQ(RCL_RET_ERROR,
|
||||
setup_publisher(deadline, lifespan, lease_duration,
|
||||
liveliness_policy)) << "Initialized publisher deadline when unsupported";
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Basic test of publisher and subscriber liveliness events, with publisher killed
|
||||
*/
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_kill_pub)
|
||||
{
|
||||
if (is_unsupported) {
|
||||
return;
|
||||
}
|
||||
setup_publisher_and_subscriber(RCL_PUBLISHER_LIVELINESS_LOST,
|
||||
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
|
||||
rcl_ret_t ret;
|
||||
|
||||
// publish message to topic
|
||||
const char * test_string = "testing";
|
||||
{
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
|
||||
ret = rcl_publish(&publisher, &msg, nullptr);
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
// kill the publisher
|
||||
ret = rcl_event_fini(&publisher_event);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
ret = rcl_publisher_fini(&publisher, this->node_ptr);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
WaitConditionPredicate msg_and_subevent_ready = [](
|
||||
const bool & msg_persist_ready,
|
||||
const bool & subscription_persist_ready,
|
||||
const bool &) {
|
||||
return msg_persist_ready && subscription_persist_ready;
|
||||
};
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
});
|
||||
rmw_liveliness_changed_status_t liveliness_status;
|
||||
bool msg_persist_ready, subscription_persist_ready, publisher_persist_ready;
|
||||
rcl_ret_t wait_res = conditional_wait_for_msgs_and_events<rmw_liveliness_changed_status_t, void>(
|
||||
msg_and_subevent_ready, &subscription, &subscription_event, nullptr, context_ptr, 1000,
|
||||
&msg_persist_ready, &subscription_persist_ready, &publisher_persist_ready,
|
||||
&msg, &liveliness_status, nullptr);
|
||||
EXPECT_EQ(wait_res, RCL_RET_OK);
|
||||
|
||||
// test that the message published to topic is as expected
|
||||
EXPECT_TRUE(msg_persist_ready);
|
||||
// test subscriber/datareader liveliness changed status
|
||||
EXPECT_TRUE(subscription_persist_ready);
|
||||
// test that the killed publisher/datawriter has no active events
|
||||
EXPECT_FALSE(publisher_persist_ready);
|
||||
|
||||
if (msg_persist_ready) {
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(std::string(msg.string_value.data, msg.string_value.size),
|
||||
std::string(test_string));
|
||||
}
|
||||
if (subscription_persist_ready) {
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(liveliness_status.alive_count, 0);
|
||||
// TODO(mm3188): Connext and OpenSplice seem to be tracking alive_count_change differently.
|
||||
// Issue has been raised at https://github.com/ADLINK-IST/opensplice/issues/88
|
||||
if (is_opensplice) {
|
||||
EXPECT_EQ(liveliness_status.alive_count_change, 2);
|
||||
} else {
|
||||
EXPECT_EQ(liveliness_status.alive_count_change, 0);
|
||||
}
|
||||
EXPECT_EQ(liveliness_status.not_alive_count, 0);
|
||||
EXPECT_EQ(liveliness_status.not_alive_count_change, 0);
|
||||
}
|
||||
|
||||
// clean up
|
||||
ret = rcl_event_fini(&subscription_event);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
ret = rcl_subscription_fini(&subscription, this->node_ptr);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
/*
|
||||
* Basic test of publisher and subscriber deadline events, with first message sent after deadline
|
||||
*/
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_missed)
|
||||
{
|
||||
if (is_unsupported) {
|
||||
return;
|
||||
}
|
||||
setup_publisher_and_subscriber(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
|
||||
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
|
||||
rcl_ret_t ret;
|
||||
|
||||
// publish message to topic
|
||||
const char * test_string = "testing";
|
||||
{
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
|
||||
ret = rcl_publish(&publisher, &msg, nullptr);
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
WaitConditionPredicate all_ready = [](
|
||||
const bool & msg_persist_ready,
|
||||
const bool & subscription_persist_ready,
|
||||
const bool & publisher_persist_ready) {
|
||||
return msg_persist_ready && subscription_persist_ready && publisher_persist_ready;
|
||||
};
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
});
|
||||
rmw_offered_deadline_missed_status_t offered_deadline_status;
|
||||
rmw_requested_deadline_missed_status_t requested_deadline_status;
|
||||
bool msg_persist_ready, subscription_persist_ready, publisher_persist_ready;
|
||||
rcl_ret_t wait_res = conditional_wait_for_msgs_and_events(
|
||||
all_ready, &subscription, &subscription_event, &publisher_event, context_ptr, 1000,
|
||||
&msg_persist_ready, &subscription_persist_ready, &publisher_persist_ready,
|
||||
&msg, &requested_deadline_status, &offered_deadline_status);
|
||||
EXPECT_EQ(wait_res, RCL_RET_OK);
|
||||
|
||||
// test that the message published to topic is as expected
|
||||
if (msg_persist_ready) {
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(std::string(msg.string_value.data, msg.string_value.size),
|
||||
std::string(test_string));
|
||||
}
|
||||
|
||||
if (subscription_persist_ready) {
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(requested_deadline_status.total_count, 1);
|
||||
EXPECT_EQ(requested_deadline_status.total_count_change, 1);
|
||||
}
|
||||
|
||||
if (publisher_persist_ready) {
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(offered_deadline_status.total_count, 1);
|
||||
EXPECT_EQ(offered_deadline_status.total_count_change, 1);
|
||||
}
|
||||
// test that the message published to topic is as expected
|
||||
EXPECT_TRUE(msg_persist_ready);
|
||||
|
||||
// test subscriber/datareader deadline missed status
|
||||
EXPECT_TRUE(subscription_persist_ready);
|
||||
|
||||
// test publisher/datawriter deadline missed status
|
||||
EXPECT_TRUE(publisher_persist_ready);
|
||||
|
||||
// clean up
|
||||
tear_down_publisher_subscriber();
|
||||
}
|
||||
|
||||
/*
|
||||
* Basic test of publisher and subscriber deadline events, with first message sent before deadline
|
||||
*/
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_missed)
|
||||
{
|
||||
if (is_unsupported) {
|
||||
return;
|
||||
}
|
||||
setup_publisher_and_subscriber(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
|
||||
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
|
||||
rcl_ret_t ret;
|
||||
|
|
@ -598,12 +388,14 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_
|
|||
|
||||
// wait for msg and events
|
||||
bool msg_ready, subscription_event_ready, publisher_event_ready;
|
||||
EXPECT_EQ(wait_for_msgs_and_events(&subscription, &subscription_event, &publisher_event,
|
||||
context_ptr, 1000, &msg_ready, &subscription_event_ready, &publisher_event_ready), RCL_RET_OK);
|
||||
rcl_ret_t wait_res = wait_for_msgs_and_events(
|
||||
context_ptr, &subscription, &subscription_event, &publisher_event,
|
||||
&msg_ready, &subscription_event_ready, &publisher_event_ready, DEADLINE_PERIOD_IN_S);
|
||||
EXPECT_EQ(wait_res, RCL_RET_OK);
|
||||
|
||||
// test that the message published to topic is as expected
|
||||
EXPECT_TRUE(msg_ready);
|
||||
{
|
||||
if (msg_ready) {
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
|
|
@ -637,3 +429,159 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_
|
|||
// clean up
|
||||
tear_down_publisher_subscriber();
|
||||
}
|
||||
|
||||
/*
|
||||
* Basic test of publisher and subscriber deadline events, with first message sent after deadline
|
||||
*/
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_missed)
|
||||
{
|
||||
setup_publisher_and_subscriber(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
|
||||
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
|
||||
rcl_ret_t ret;
|
||||
|
||||
// publish message to topic
|
||||
const char * test_string = "testing";
|
||||
{
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
|
||||
ret = rcl_publish(&publisher, &msg, nullptr);
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
WaitConditionPredicate all_ready = [](
|
||||
const bool & msg_persist_ready,
|
||||
const bool & subscription_persist_ready,
|
||||
const bool & publisher_persist_ready) {
|
||||
return msg_persist_ready && subscription_persist_ready && publisher_persist_ready;
|
||||
};
|
||||
bool msg_persist_ready, subscription_persist_ready, publisher_persist_ready;
|
||||
rcl_ret_t wait_res = conditional_wait_for_msgs_and_events(
|
||||
context_ptr, MAX_WAIT_PER_TESTCASE, all_ready,
|
||||
&subscription, &subscription_event, &publisher_event,
|
||||
&msg_persist_ready, &subscription_persist_ready, &publisher_persist_ready);
|
||||
EXPECT_EQ(wait_res, RCL_RET_OK);
|
||||
|
||||
// test that the message published to topic is as expected
|
||||
EXPECT_TRUE(msg_persist_ready);
|
||||
if (msg_persist_ready) {
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
});
|
||||
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(std::string(msg.string_value.data, msg.string_value.size),
|
||||
std::string(test_string));
|
||||
}
|
||||
|
||||
// test subscriber/datareader deadline missed status
|
||||
EXPECT_TRUE(subscription_persist_ready);
|
||||
if (subscription_persist_ready) {
|
||||
rmw_requested_deadline_missed_status_t requested_deadline_status;
|
||||
ret = rcl_take_event(&subscription_event, &requested_deadline_status);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(requested_deadline_status.total_count, 1);
|
||||
EXPECT_EQ(requested_deadline_status.total_count_change, 1);
|
||||
}
|
||||
|
||||
// test publisher/datawriter deadline missed status
|
||||
EXPECT_TRUE(publisher_persist_ready);
|
||||
if (publisher_persist_ready) {
|
||||
rmw_offered_deadline_missed_status_t offered_deadline_status;
|
||||
ret = rcl_take_event(&publisher_event, &offered_deadline_status);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(offered_deadline_status.total_count, 1);
|
||||
EXPECT_EQ(offered_deadline_status.total_count_change, 1);
|
||||
}
|
||||
|
||||
// clean up
|
||||
tear_down_publisher_subscriber();
|
||||
}
|
||||
|
||||
/*
|
||||
* Basic test of publisher and subscriber liveliness events, with publisher killed
|
||||
*/
|
||||
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_kill_pub)
|
||||
{
|
||||
if (is_manual_liveliness_unsupported) {
|
||||
return;
|
||||
}
|
||||
|
||||
setup_publisher_and_subscriber(RCL_PUBLISHER_LIVELINESS_LOST,
|
||||
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
|
||||
rcl_ret_t ret;
|
||||
|
||||
// publish message to topic
|
||||
const char * test_string = "testing";
|
||||
{
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
|
||||
ret = rcl_publish(&publisher, &msg, nullptr);
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
std::this_thread::sleep_for(2 * LIVELINESS_LEASE_DURATION_IN_S);
|
||||
|
||||
WaitConditionPredicate all_ready = [](
|
||||
const bool & msg_persist_ready,
|
||||
const bool & subscription_persist_ready,
|
||||
const bool & publisher_persist_ready) {
|
||||
return msg_persist_ready && subscription_persist_ready && publisher_persist_ready;
|
||||
};
|
||||
bool msg_persist_ready, subscription_persist_ready, publisher_persist_ready;
|
||||
rcl_ret_t wait_res = conditional_wait_for_msgs_and_events(
|
||||
context_ptr, MAX_WAIT_PER_TESTCASE, all_ready,
|
||||
&subscription, &subscription_event, &publisher_event,
|
||||
&msg_persist_ready, &subscription_persist_ready, &publisher_persist_ready);
|
||||
EXPECT_EQ(wait_res, RCL_RET_OK);
|
||||
|
||||
// test that the message published to topic is as expected
|
||||
EXPECT_TRUE(msg_persist_ready);
|
||||
if (msg_persist_ready) {
|
||||
test_msgs__msg__Strings msg;
|
||||
test_msgs__msg__Strings__init(&msg);
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
test_msgs__msg__Strings__fini(&msg);
|
||||
});
|
||||
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(std::string(msg.string_value.data, msg.string_value.size),
|
||||
std::string(test_string));
|
||||
}
|
||||
|
||||
// test subscriber/datareader liveliness changed status
|
||||
EXPECT_TRUE(subscription_persist_ready);
|
||||
if (subscription_persist_ready) {
|
||||
rmw_liveliness_changed_status_t liveliness_status;
|
||||
ret = rcl_take_event(&subscription_event, &liveliness_status);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(liveliness_status.alive_count, 0);
|
||||
// TODO(mm3188): Connext and OpenSplice seem to be tracking alive_count_change differently.
|
||||
// Issue has been raised at https://github.com/ADLINK-IST/opensplice/issues/88
|
||||
if (is_opensplice) {
|
||||
EXPECT_EQ(liveliness_status.alive_count_change, 2);
|
||||
} else {
|
||||
EXPECT_EQ(liveliness_status.alive_count_change, 0);
|
||||
}
|
||||
EXPECT_EQ(liveliness_status.not_alive_count, 1);
|
||||
EXPECT_EQ(liveliness_status.not_alive_count_change, 1);
|
||||
}
|
||||
|
||||
// test that the killed publisher/datawriter has no active events
|
||||
EXPECT_TRUE(publisher_persist_ready);
|
||||
if (publisher_persist_ready) {
|
||||
rmw_liveliness_lost_status_t liveliness_status;
|
||||
ret = rcl_take_event(&publisher_event, &liveliness_status);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
EXPECT_EQ(liveliness_status.total_count, 1);
|
||||
EXPECT_EQ(liveliness_status.total_count_change, 1);
|
||||
}
|
||||
|
||||
// clean up
|
||||
tear_down_publisher_subscriber();
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue