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Finish API coverage on executors. (#1364)

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In particular, add API coverage for spin_node_until_future_complete,
spin_until_future_complete, and spin_node_once.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
This commit is contained in:
Chris Lalancette 2020-09-30 18:32:56 -04:00 • committed by brawner
parent ec31b29824
commit 707f9cfa8e
2 changed files with 103 additions and 0 deletions
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69
rclcpp/test/rclcpp/executors/test_executors.cpp
View file

@ -335,3 +335,72 @@ TYPED_TEST(TestExecutorsStable, spinSome) {
spinner.join();
}
// Check spin_node_until_future_complete with node base pointer
TYPED_TEST(TestExecutorsStable, testSpinNodeUntilFutureCompleteNodeBasePtr) {
using ExecutorType = TypeParam;
ExecutorType executor;
std::promise<bool> promise;
std::future<bool> future = promise.get_future();
promise.set_value(true);
auto shared_future = future.share();
auto ret = rclcpp::executors::spin_node_until_future_complete(
executor, this->node->get_node_base_interface(), shared_future, 1s);
EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
}
// Check spin_node_until_future_complete with node pointer
TYPED_TEST(TestExecutorsStable, testSpinNodeUntilFutureCompleteNodePtr) {
using ExecutorType = TypeParam;
ExecutorType executor;
std::promise<bool> promise;
std::future<bool> future = promise.get_future();
promise.set_value(true);
auto shared_future = future.share();
auto ret = rclcpp::executors::spin_node_until_future_complete(
executor, this->node, shared_future, 1s);
EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
}
// Check spin_until_future_complete with node base pointer (instantiates its own executor)
TEST(TestExecutors, testSpinUntilFutureCompleteNodeBasePtr) {
rclcpp::init(0, nullptr);
{
auto node = std::make_shared<rclcpp::Node>("node");
std::promise<bool> promise;
std::future<bool> future = promise.get_future();
promise.set_value(true);
auto shared_future = future.share();
auto ret = rclcpp::spin_until_future_complete(
node->get_node_base_interface(), shared_future, 1s);
EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
}
rclcpp::shutdown();
}
// Check spin_until_future_complete with node pointer (instantiates its own executor)
TEST(TestExecutors, testSpinUntilFutureCompleteNodePtr) {
rclcpp::init(0, nullptr);
{
auto node = std::make_shared<rclcpp::Node>("node");
std::promise<bool> promise;
std::future<bool> future = promise.get_future();
promise.set_value(true);
auto shared_future = future.share();
auto ret = rclcpp::spin_until_future_complete(node, shared_future, 1s);
EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
}
rclcpp::shutdown();
}

34
rclcpp/test/rclcpp/test_executor.cpp
View file

@ -321,3 +321,37 @@ TEST_F(TestExecutor, get_group_by_timer_with_deleted_group) {
ASSERT_EQ(nullptr, dummy.local_get_group_by_timer(timer).get());
}
TEST_F(TestExecutor, spin_node_once_base_interface) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
bool spin_called = false;
auto timer =
node->create_wall_timer(
std::chrono::milliseconds(1), [&]() {
spin_called = true;
});
// Wait for the wall timer to have expired.
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(spin_called);
dummy.spin_node_once(node->get_node_base_interface());
EXPECT_TRUE(spin_called);
}
TEST_F(TestExecutor, spin_node_once_node) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
bool spin_called = false;
auto timer =
node->create_wall_timer(
std::chrono::milliseconds(1), [&]() {
spin_called = true;
});
// Wait for the wall timer to have expired.
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(spin_called);
dummy.spin_node_once(node);
EXPECT_TRUE(spin_called);
}