Add unit test for static_executor_entities_collector (#1221)
* Add unit test for static_executor_entities_collector Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com>
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2 changed files with 300 additions and 0 deletions
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@ -466,6 +466,15 @@ if(TARGET test_multi_threaded_executor)
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target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_static_executor_entities_collector rclcpp/executors/test_static_executor_entities_collector.cpp
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APPEND_LIBRARY_DIRS "${append_library_dirs}")
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if(TARGET test_static_executor_entities_collector)
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ament_target_dependencies(test_static_executor_entities_collector
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"rcl"
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"test_msgs")
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target_link_libraries(test_static_executor_entities_collector ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_guard_condition rclcpp/test_guard_condition.cpp
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APPEND_LIBRARY_DIRS "${append_library_dirs}")
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if(TARGET test_guard_condition)
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@ -0,0 +1,291 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <memory>
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#include "rclcpp/rclcpp.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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namespace
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{
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struct NumberOfEntities
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{
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size_t subscriptions = 0;
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size_t timers = 0;
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size_t services = 0;
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size_t clients = 0;
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size_t waitables = 0;
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};
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std::unique_ptr<NumberOfEntities> get_number_of_default_entities(rclcpp::Node::SharedPtr node)
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{
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auto number_of_entities = std::make_unique<NumberOfEntities>();
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for (auto & weak_group : node->get_callback_groups()) {
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auto group = weak_group.lock();
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EXPECT_NE(nullptr, group);
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if (!group || !group->can_be_taken_from().load()) {
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return nullptr;
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}
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group->find_subscription_ptrs_if(
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[&number_of_entities](rclcpp::SubscriptionBase::SharedPtr &)
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{
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number_of_entities->subscriptions++; return false;
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});
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group->find_timer_ptrs_if(
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[&number_of_entities](rclcpp::TimerBase::SharedPtr &)
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{
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number_of_entities->timers++; return false;
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});
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group->find_service_ptrs_if(
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[&number_of_entities](rclcpp::ServiceBase::SharedPtr &)
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{
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number_of_entities->services++; return false;
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});
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group->find_client_ptrs_if(
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[&number_of_entities](rclcpp::ClientBase::SharedPtr &)
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{
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number_of_entities->clients++; return false;
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});
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group->find_waitable_ptrs_if(
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[&number_of_entities](rclcpp::Waitable::SharedPtr &)
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{
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number_of_entities->waitables++; return false;
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});
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}
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return number_of_entities;
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}
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} // namespace
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class TestStaticExecutorEntitiesCollector : public ::testing::Test
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{
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public:
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void SetUp()
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{
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rclcpp::init(0, nullptr);
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entities_collector_ =
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std::make_shared<rclcpp::executors::StaticExecutorEntitiesCollector>();
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}
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void TearDown()
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{
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rclcpp::shutdown();
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}
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rclcpp::executors::StaticExecutorEntitiesCollector::SharedPtr entities_collector_;
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};
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TEST_F(TestStaticExecutorEntitiesCollector, construct_destruct) {
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EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
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EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
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EXPECT_EQ(0u, entities_collector_->get_number_of_services());
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EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
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EXPECT_EQ(0u, entities_collector_->get_number_of_waitables());
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}
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TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node) {
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auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
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EXPECT_NO_THROW(entities_collector_->add_node(node1->get_node_base_interface()));
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// Check adding second time
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EXPECT_THROW(entities_collector_->add_node(node1->get_node_base_interface()), std::runtime_error);
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auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
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EXPECT_FALSE(entities_collector_->remove_node(node2->get_node_base_interface()));
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EXPECT_NO_THROW(entities_collector_->add_node(node2->get_node_base_interface()));
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EXPECT_TRUE(entities_collector_->remove_node(node1->get_node_base_interface()));
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EXPECT_FALSE(entities_collector_->remove_node(node1->get_node_base_interface()));
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EXPECT_TRUE(entities_collector_->remove_node(node2->get_node_base_interface()));
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}
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TEST_F(TestStaticExecutorEntitiesCollector, init_bad_arguments) {
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auto node = std::make_shared<rclcpp::Node>("node", "ns");
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entities_collector_->add_node(node->get_node_base_interface());
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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auto shared_context = node->get_node_base_interface()->get_context();
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rcl_context_t * context = shared_context->get_rcl_context().get();
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EXPECT_EQ(
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RCL_RET_OK,
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rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
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RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
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rclcpp::GuardCondition guard_condition(shared_context);
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rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
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// Check memory strategy is nullptr
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rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy = nullptr;
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EXPECT_THROW(
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entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition),
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std::runtime_error);
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}
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TEST_F(TestStaticExecutorEntitiesCollector, add_remove_basic_node) {
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auto node = std::make_shared<rclcpp::Node>("node", "ns");
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const auto expected_number_of_entities = get_number_of_default_entities(node);
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EXPECT_NE(nullptr, expected_number_of_entities);
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entities_collector_->add_node(node->get_node_base_interface());
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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auto shared_context = node->get_node_base_interface()->get_context();
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rcl_context_t * context = shared_context->get_rcl_context().get();
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EXPECT_EQ(
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RCL_RET_OK,
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rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
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RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
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auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
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rclcpp::GuardCondition guard_condition(shared_context);
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rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
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entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
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EXPECT_EQ(
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expected_number_of_entities->subscriptions,
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entities_collector_->get_number_of_subscriptions());
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EXPECT_EQ(expected_number_of_entities->timers, entities_collector_->get_number_of_timers());
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EXPECT_EQ(expected_number_of_entities->services, entities_collector_->get_number_of_services());
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EXPECT_EQ(expected_number_of_entities->clients, entities_collector_->get_number_of_clients());
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// One extra for the executor
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EXPECT_EQ(
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1u + expected_number_of_entities->waitables,
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entities_collector_->get_number_of_waitables());
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EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
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entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
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EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
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EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
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EXPECT_EQ(0u, entities_collector_->get_number_of_services());
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EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
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// Still one for the executor
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EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
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}
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TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {
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rclcpp::Context::SharedPtr shared_context = nullptr;
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{
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auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
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auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
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auto node3 = std::make_shared<rclcpp::Node>("node3", "ns");
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entities_collector_->add_node(node1->get_node_base_interface());
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entities_collector_->add_node(node2->get_node_base_interface());
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entities_collector_->add_node(node3->get_node_base_interface());
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shared_context = node1->get_node_base_interface()->get_context();
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}
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_context_t * context = shared_context->get_rcl_context().get();
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EXPECT_EQ(
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RCL_RET_OK,
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rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
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RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
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auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
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rclcpp::GuardCondition guard_condition(shared_context);
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rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
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// Expect weak_node pointers to be cleaned up and used
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entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
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EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
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EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
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EXPECT_EQ(0u, entities_collector_->get_number_of_services());
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EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
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// Still one for the executor
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EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
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}
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class TestWaitable : public rclcpp::Waitable
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{
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public:
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bool add_to_wait_set(rcl_wait_set_t *) override {return true;}
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bool is_ready(rcl_wait_set_t *) override {return true;}
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void execute() override {}
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};
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TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
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auto node = std::make_shared<rclcpp::Node>("node", "ns");
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const auto expected_number_of_entities = get_number_of_default_entities(node);
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EXPECT_NE(nullptr, expected_number_of_entities);
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// Create 1 of each entity type
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auto subscription =
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node->create_subscription<test_msgs::msg::Empty>(
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"topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::SharedPtr) {});
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auto timer =
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node->create_wall_timer(std::chrono::seconds(60), []() {});
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auto service =
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node->create_service<test_msgs::srv::Empty>(
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"service",
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[](
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const test_msgs::srv::Empty::Request::SharedPtr,
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test_msgs::srv::Empty::Response::SharedPtr) {});
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auto client = node->create_client<test_msgs::srv::Empty>("service");
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auto waitable = std::make_shared<TestWaitable>();
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node->get_node_waitables_interface()->add_waitable(waitable, nullptr);
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entities_collector_->add_node(node->get_node_base_interface());
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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auto shared_context = node->get_node_base_interface()->get_context();
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rcl_context_t * context = shared_context->get_rcl_context().get();
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EXPECT_EQ(
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RCL_RET_OK,
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rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
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RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
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auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
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rclcpp::GuardCondition guard_condition(shared_context);
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rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
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entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
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EXPECT_EQ(
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1u + expected_number_of_entities->subscriptions,
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entities_collector_->get_number_of_subscriptions());
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EXPECT_EQ(1u + expected_number_of_entities->timers, entities_collector_->get_number_of_timers());
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EXPECT_EQ(
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1u + expected_number_of_entities->services,
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entities_collector_->get_number_of_services());
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EXPECT_EQ(
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1u + expected_number_of_entities->clients,
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entities_collector_->get_number_of_clients());
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// One extra for the executor
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EXPECT_EQ(
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2u + expected_number_of_entities->waitables,
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entities_collector_->get_number_of_waitables());
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entities_collector_->remove_node(node->get_node_base_interface());
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entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
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EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
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EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
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EXPECT_EQ(0u, entities_collector_->get_number_of_services());
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EXPECT_EQ(0u, entities_collector_->get_number_of_clients());
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// Still one for the executor
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EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
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}
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