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fix failing test with Connext since it doesn't wait for discovery (#1246)

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* fix failing test with Connext since it doesn't wait for discovery

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

* Check for added service in the node graph

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

Co-authored-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
Dirk Thomas 2020-07-30 12:20:15 -07:00 • committed by brawner
parent 48d3603018
commit 48f956a3e3
1 changed files with 26 additions and 3 deletions
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29
rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp
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@ -23,6 +23,7 @@
#include "rclcpp/node_interfaces/node_graph.hpp" #include "rclcpp/node_interfaces/node_graph.hpp"
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include "test_msgs/msg/empty.hpp" #include "test_msgs/msg/empty.hpp"
#include "test_msgs/srv/empty.hpp"
class TestNodeGraph : public ::testing::Test class TestNodeGraph : public ::testing::Test
{ {
@ -87,17 +88,39 @@ TEST_F(TestNodeGraph, get_service_names_and_types)
TEST_F(TestNodeGraph, get_service_names_and_types_by_node) TEST_F(TestNodeGraph, get_service_names_and_types_by_node)
{ {
auto node1 = std::make_shared<rclcpp::Node>("node1", "ns"); auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
auto callback = [](
const test_msgs::srv::Empty::Request::SharedPtr,
test_msgs::srv::Empty::Response::SharedPtr) {};
auto service =
node1->create_service<test_msgs::srv::Empty>("node1_service", std::move(callback));
auto node2 = std::make_shared<rclcpp::Node>("node2", "ns"); auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
const auto * node_graph = const auto * node_graph =
dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node1->get_node_graph_interface().get()); dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node1->get_node_graph_interface().get());
ASSERT_NE(nullptr, node_graph); ASSERT_NE(nullptr, node_graph);
// rcl_get_service_names_and_types_by_node() expects the node to exist, otherwise it fails
EXPECT_THROW( EXPECT_THROW(
node_graph->get_service_names_and_types_by_node("not_a_node", "not_absolute_namespace"), node_graph->get_service_names_and_types_by_node("not_a_node", "not_absolute_namespace"),
std::runtime_error); std::runtime_error);
auto service_names_and_types1 = node_graph->get_service_names_and_types_by_node("node1", "/ns");
auto service_names_and_types2 = node_graph->get_service_names_and_types_by_node("node2", "/ns"); // Check that node1_service exists for node1 but not node2. This shouldn't exercise graph
EXPECT_EQ(service_names_and_types1.size(), service_names_and_types2.size()); // discovery as node_graph belongs to node1 anyway. This is just to test the API itself.
auto services_of_node1 =
node_graph->get_service_names_and_types_by_node("node1", "/ns");
auto services_of_node2 =
node_graph->get_service_names_and_types_by_node("node2", "/ns");
auto start = std::chrono::steady_clock::now();
while (std::chrono::steady_clock::now() - start < std::chrono::seconds(1)) {
services_of_node1 = node_graph->get_service_names_and_types_by_node("node1", "/ns");
services_of_node2 = node_graph->get_service_names_and_types_by_node("node2", "/ns");
if (services_of_node1.find("/ns/node1_service") != services_of_node1.end()) {
break;
}
}
EXPECT_TRUE(services_of_node1.find("/ns/node1_service") != services_of_node1.end());
EXPECT_FALSE(services_of_node2.find("/ns/node1_service") != services_of_node2.end());
} }
TEST_F(TestNodeGraph, get_node_names_and_namespaces) TEST_F(TestNodeGraph, get_node_names_and_namespaces)