niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

fix topic stats test, wait for more messages, only check the ones with samples (#1274)

Browse source 
Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
This commit is contained in:
Dirk Thomas 2020-08-12 21:30:01 -07:00 • committed by brawner
parent b17c73992a
commit 8be1e76fd8
1 changed files with 42 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

48
rclcpp/test/rclcpp/topic_statistics/test_subscription_topic_statistics.cpp
View file

@ -284,7 +284,7 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
auto statistics_listener = std::make_shared<rclcpp::topic_statistics::MetricsMessageSubscriber>( auto statistics_listener = std::make_shared<rclcpp::topic_statistics::MetricsMessageSubscriber>(
"test_receive_single_empty_stats_message_listener", "test_receive_single_empty_stats_message_listener",
"/statistics", "/statistics",
2); 4);
auto empty_subscriber = std::make_shared<EmptySubscriber>( auto empty_subscriber = std::make_shared<EmptySubscriber>(
kTestSubNodeName, kTestSubNodeName,
@ -301,12 +301,12 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
kTestDuration); kTestDuration);
// Compare message counts, sample count should be the same as published and received count // Compare message counts, sample count should be the same as published and received count
EXPECT_EQ(2, statistics_listener->GetNumberOfMessagesReceived()); EXPECT_EQ(4, statistics_listener->GetNumberOfMessagesReceived());
// Check the received message and the data types // Check the received message and the data types
const auto received_messages = statistics_listener->GetReceivedMessages(); const auto received_messages = statistics_listener->GetReceivedMessages();
EXPECT_EQ(2u, received_messages.size()); EXPECT_EQ(4u, received_messages.size());
std::set<std::string> received_metrics; std::set<std::string> received_metrics;
for (const auto & msg : received_messages) { for (const auto & msg : received_messages) {
@ -318,10 +318,27 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
// Check the collected statistics for message period. // Check the collected statistics for message period.
// Message age statistics will not be calculated because Empty messages // Message age statistics will not be calculated because Empty messages
// don't have a `header` with timestamp. // don't have a `header` with timestamp.
bool any_samples = false;
for (const auto & msg : received_messages) { for (const auto & msg : received_messages) {
if (msg.metrics_source != "message_period") { if (msg.metrics_source != "message_period") {
continue; continue;
} }
// skip messages without samples
bool has_samples = false;
for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type;
if (
StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT == type &&
stats_point.data > 0)
{
has_samples = true;
break;
}
}
if (!has_samples) {
continue;
}
any_samples = true;
for (const auto & stats_point : msg.statistics) { for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type; const auto type = stats_point.data_type;
switch (type) { switch (type) {
@ -346,6 +363,7 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
} }
} }
} }
EXPECT_TRUE(any_samples) << "All received metrics messages had zero samples";
} }
TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_with_header) TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_with_header)
@ -361,7 +379,7 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_wi
auto statistics_listener = std::make_shared<rclcpp::topic_statistics::MetricsMessageSubscriber>( auto statistics_listener = std::make_shared<rclcpp::topic_statistics::MetricsMessageSubscriber>(
"test_receive_stats_for_message_with_header", "test_receive_stats_for_message_with_header",
"/statistics", "/statistics",
2); 4);
auto msg_with_header_subscriber = std::make_shared<MessageWithHeaderSubscriber>( auto msg_with_header_subscriber = std::make_shared<MessageWithHeaderSubscriber>(
kTestSubNodeName, kTestSubNodeName,
@ -378,12 +396,12 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_wi
kTestDuration); kTestDuration);
// Compare message counts, sample count should be the same as published and received count // Compare message counts, sample count should be the same as published and received count
EXPECT_EQ(2, statistics_listener->GetNumberOfMessagesReceived()); EXPECT_EQ(4, statistics_listener->GetNumberOfMessagesReceived());
// Check the received message and the data types // Check the received message and the data types
const auto received_messages = statistics_listener->GetReceivedMessages(); const auto received_messages = statistics_listener->GetReceivedMessages();
EXPECT_EQ(2u, received_messages.size()); EXPECT_EQ(4u, received_messages.size());
std::set<std::string> received_metrics; std::set<std::string> received_metrics;
for (const auto & msg : received_messages) { for (const auto & msg : received_messages) {
@ -393,7 +411,24 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_wi
EXPECT_TRUE(received_metrics.find("message_period") != received_metrics.end()); EXPECT_TRUE(received_metrics.find("message_period") != received_metrics.end());
// Check the collected statistics for message period. // Check the collected statistics for message period.
bool any_samples = false;
for (const auto & msg : received_messages) { for (const auto & msg : received_messages) {
// skip messages without samples
bool has_samples = false;
for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type;
if (
StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT == type &&
stats_point.data > 0)
{
has_samples = true;
break;
}
}
if (!has_samples) {
continue;
}
any_samples = true;
for (const auto & stats_point : msg.statistics) { for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type; const auto type = stats_point.data_type;
switch (type) { switch (type) {
@ -418,4 +453,5 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_wi
} }
} }
} }
EXPECT_TRUE(any_samples) << "All received metrics messages had zero samples";
} }