Test the remaining node public API (#1342)
* Test the remaining node public API Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Add comment Signed-off-by: Stephen Brawner <brawner@gmail.com>
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brawner
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2 changed files with 129 additions and 12 deletions
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@ -188,7 +188,7 @@ if(TARGET test_node)
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"rosidl_typesupport_cpp"
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"test_msgs"
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)
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target_link_libraries(test_node ${PROJECT_NAME})
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target_link_libraries(test_node ${PROJECT_NAME} mimick)
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endif()
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ament_add_gtest(test_node_interfaces__get_node_interfaces
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@ -26,7 +26,14 @@
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#include "rclcpp/rclcpp.hpp"
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#include "rcpputils/filesystem_helper.hpp"
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#include "rmw/validate_namespace.h"
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#include "test_msgs/msg/basic_types.hpp"
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#include "test_msgs/msg/empty.hpp"
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#include "test_msgs/srv/empty.hpp"
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#include "../mocking_utils/patch.hpp"
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class TestNode : public ::testing::Test
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{
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@ -50,7 +57,19 @@ protected:
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TEST_F(TestNode, construction_and_destruction) {
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{
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auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
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(void)node;
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EXPECT_NE(nullptr, node->get_node_base_interface());
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EXPECT_NE(nullptr, node->get_node_clock_interface());
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EXPECT_NE(nullptr, node->get_node_graph_interface());
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EXPECT_NE(nullptr, node->get_node_logging_interface());
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EXPECT_NE(nullptr, node->get_node_time_source_interface());
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EXPECT_NE(nullptr, node->get_node_timers_interface());
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EXPECT_NE(nullptr, node->get_node_topics_interface());
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EXPECT_NE(nullptr, node->get_node_services_interface());
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EXPECT_NE(nullptr, node->get_node_parameters_interface());
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EXPECT_NE(nullptr, node->get_node_waitables_interface());
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EXPECT_NE(nullptr, node->get_node_options().get_rcl_node_options());
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EXPECT_NE(nullptr, node->get_graph_event());
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EXPECT_NE(nullptr, node->get_clock());
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}
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{
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@ -279,8 +298,11 @@ TEST_F(TestNode, get_logger) {
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TEST_F(TestNode, get_clock) {
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auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
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auto ros_clock = node->get_clock();
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EXPECT_TRUE(ros_clock != nullptr);
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EXPECT_NE(nullptr, ros_clock);
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EXPECT_EQ(ros_clock->get_clock_type(), RCL_ROS_TIME);
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const rclcpp::Node & const_node = *node.get();
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EXPECT_NE(nullptr, const_node.get_clock());
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}
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TEST_F(TestNode, now) {
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@ -785,7 +807,6 @@ TEST_F(TestNode, undeclare_parameter) {
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TEST_F(TestNode, has_parameter) {
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auto node = std::make_shared<rclcpp::Node>("test_has_parameter_node"_unq);
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{
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// normal use
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auto name = "parameter"_unq;
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EXPECT_FALSE(node->has_parameter(name));
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@ -793,7 +814,17 @@ TEST_F(TestNode, has_parameter) {
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EXPECT_TRUE(node->has_parameter(name));
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node->undeclare_parameter(name);
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EXPECT_FALSE(node->has_parameter(name));
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}
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}
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TEST_F(TestNode, list_parameters) {
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auto node = std::make_shared<rclcpp::Node>("test_list_parameter_node"_unq);
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// normal use
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auto name = "parameter"_unq;
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const size_t before_size = node->list_parameters({}, 1u).names.size();
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node->declare_parameter(name);
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EXPECT_EQ(1u + before_size, node->list_parameters({}, 1u).names.size());
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node->undeclare_parameter(name);
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EXPECT_EQ(before_size, node->list_parameters({}, 1u).names.size());
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}
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TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
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@ -2655,3 +2686,89 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
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subscription_list = node->get_subscriptions_info_by_topic("13");
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}, rclcpp::exceptions::InvalidTopicNameError);
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}
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TEST_F(TestNode, callback_groups) {
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auto node = std::make_shared<rclcpp::Node>("node", "ns");
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size_t num_callback_groups_in_basic_node = node->get_callback_groups().size();
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auto group1 = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
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EXPECT_EQ(1u + num_callback_groups_in_basic_node, node->get_callback_groups().size());
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auto group2 = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
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EXPECT_EQ(2u + num_callback_groups_in_basic_node, node->get_callback_groups().size());
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}
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// This is tested more thoroughly in node_interfaces/test_node_graph
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TEST_F(TestNode, get_entity_names) {
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auto node = std::make_shared<rclcpp::Node>("node", "ns");
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const auto node_names = node->get_node_names();
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EXPECT_NE(
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node_names.end(),
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std::find(node_names.begin(), node_names.end(), node->get_fully_qualified_name()));
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const auto topic_names_and_types = node->get_topic_names_and_types();
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EXPECT_EQ(topic_names_and_types.end(), topic_names_and_types.find("topic"));
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EXPECT_EQ(0u, node->count_publishers("topic"));
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EXPECT_EQ(0u, node->count_subscribers("topic"));
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const auto service_names_and_types = node->get_service_names_and_types();
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EXPECT_EQ(service_names_and_types.end(), service_names_and_types.find("service"));
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const auto service_names_and_types_by_node =
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node->get_service_names_and_types_by_node("node", "/ns");
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EXPECT_EQ(
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service_names_and_types_by_node.end(),
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service_names_and_types_by_node.find("service"));
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}
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TEST_F(TestNode, wait_for_graph_event) {
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// Even though this node is only used in the std::thread below, it's here to ensure there is no
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// race condition in its destruction and modification of the node_graph
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auto node = std::make_shared<rclcpp::Node>("node", "ns");
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constexpr std::chrono::seconds timeout(10);
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auto thread_start = std::chrono::steady_clock::now();
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auto thread_completion = thread_start;
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// This runs until the graph is updated
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std::thread graph_event_wait_thread([&thread_completion, node, timeout]() {
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auto event = node->get_graph_event();
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EXPECT_NO_THROW(node->wait_for_graph_change(event, timeout));
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thread_completion = std::chrono::steady_clock::now();
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});
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// Start creating nodes until at least one event triggers in graph_event_wait_thread or until 100
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// nodes have been created (at which point this is a failure)
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std::vector<std::shared_ptr<rclcpp::Node>> nodes;
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while (thread_completion == thread_start && nodes.size() < 100) {
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nodes.emplace_back(std::make_shared<rclcpp::Node>("node"_unq, "ns"));
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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}
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graph_event_wait_thread.join();
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// Nodes will probably only be of size 1
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EXPECT_LT(0u, nodes.size());
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EXPECT_GT(100u, nodes.size());
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EXPECT_NE(thread_start, thread_completion);
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EXPECT_GT(timeout, thread_completion - thread_start);
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}
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TEST_F(TestNode, create_sub_node_rmw_validate_namespace_error) {
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auto node = std::make_shared<rclcpp::Node>("node", "ns");
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rmw_validate_namespace, RMW_RET_INVALID_ARGUMENT);
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// reset() is not necessary for this exception, but it handles unused return value warning
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EXPECT_THROW(
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node->create_sub_node("ns").reset(),
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rclcpp::exceptions::RCLInvalidArgument);
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}
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp", rmw_validate_namespace, RMW_RET_ERROR);
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EXPECT_THROW(
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node->create_sub_node("ns").reset(),
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rclcpp::exceptions::RCLError);
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}
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}
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