rclcpp/rclcpp/test/test_subscription_publisher_count_api.cpp
Devin Bonnie d10f7b7c62
Fix tests that were not properly torn down (#1073)
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
2020-05-06 13:04:45 -03:00

127 lines
3.1 KiB
C++

// Copyright 2019 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include <iostream>
#include <string>
#include <memory>
#include "rclcpp/exceptions.hpp"
#include "rclcpp/rclcpp.hpp"
#include "test_msgs/msg/empty.hpp"
using test_msgs::msg::Empty;
struct TestParameters
{
rclcpp::NodeOptions node_options;
std::string description;
};
std::ostream & operator<<(std::ostream & out, const TestParameters & params)
{
out << params.description;
return out;
}
class TestSubscriptionPublisherCount : public ::testing::TestWithParam<TestParameters>
{
public:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
static void TearDownTestCase()
{
rclcpp::shutdown();
}
protected:
void SetUp() {}
void TearDown() {}
static std::chrono::milliseconds offset;
};
std::chrono::milliseconds TestSubscriptionPublisherCount::offset = std::chrono::milliseconds(2000);
void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
{
(void)msg;
}
TEST_P(TestSubscriptionPublisherCount, increasing_and_decreasing_counts)
{
rclcpp::NodeOptions node_options = GetParam().node_options;
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
"my_node",
"/ns",
node_options);
auto subscription = node->create_subscription<Empty>("/topic", 10, &OnMessage);
EXPECT_EQ(subscription->get_publisher_count(), 0u);
{
auto pub = node->create_publisher<Empty>("/topic", 10);
rclcpp::sleep_for(offset);
EXPECT_EQ(subscription->get_publisher_count(), 1u);
{
rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
"another_node",
"/ns",
node_options);
auto another_pub =
another_node->create_publisher<Empty>("/topic", 10);
rclcpp::sleep_for(offset);
EXPECT_EQ(subscription->get_publisher_count(), 2u);
}
rclcpp::sleep_for(offset);
EXPECT_EQ(subscription->get_publisher_count(), 1u);
}
rclcpp::sleep_for(offset);
EXPECT_EQ(subscription->get_publisher_count(), 0u);
}
auto get_new_context()
{
auto context = rclcpp::Context::make_shared();
context->init(0, nullptr);
return context;
}
TestParameters parameters[] = {
/*
Testing subscription publisher count api.
One context.
*/
{
rclcpp::NodeOptions(),
"one_context_test"
},
/*
Testing subscription publisher count api.
Two contexts.
*/
{
rclcpp::NodeOptions().context(get_new_context()),
"two_contexts_test"
}
};
INSTANTIATE_TEST_CASE_P(
TestWithDifferentNodeOptions,
TestSubscriptionPublisherCount,
testing::ValuesIn(parameters),
testing::PrintToStringParamName());