Merge and update service test to cover callback registration
This commit is contained in:
Christophe Bedard
parent
bae71f0cad
commit
1b73e4be94
3 changed files with 182 additions and 107 deletions
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@ -82,15 +82,6 @@ if(BUILD_TESTING)
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tracetools
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)
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target_link_libraries(test_timer "${RDYNAMIC_FLAG}")
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add_executable(test_service
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src/test_service.cpp
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)
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ament_target_dependencies(test_service
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rclcpp
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std_srvs
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tracetools
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)
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target_link_libraries(test_service "${RDYNAMIC_FLAG}")
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add_executable(test_service_ping
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src/test_service_ping.cpp
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)
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@ -115,7 +106,6 @@ if(BUILD_TESTING)
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test_ping
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test_pong
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test_publisher
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test_service
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test_service_ping
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test_service_pong
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test_timer
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@ -135,7 +125,6 @@ if(BUILD_TESTING)
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test/test_node.py
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test/test_publisher.py
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test/test_service.py
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test/test_service_callback.py
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test/test_subscription.py
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test/test_timer.py
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)
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@ -22,13 +22,16 @@ class TestService(TraceTestCase):
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def __init__(self, *args) -> None:
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super().__init__(
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*args,
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session_name_prefix='session-test-service-creation',
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session_name_prefix='session-test-service',
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events_ros=[
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'ros2:rcl_node_init',
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'ros2:rcl_service_init',
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'ros2:rclcpp_service_callback_added',
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'ros2:rclcpp_callback_register',
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'ros2:callback_start',
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'ros2:callback_end',
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],
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nodes=['test_service'],
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nodes=['test_service_ping', 'test_service_pong'],
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)
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def test_all(self):
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@ -38,53 +41,206 @@ class TestService(TraceTestCase):
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# Check fields
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srv_init_events = self.get_events_with_name('ros2:rcl_service_init')
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callback_added_events = self.get_events_with_name('ros2:rclcpp_service_callback_added')
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callback_register_events = self.get_events_with_name('ros2:rclcpp_callback_register')
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start_events = self.get_events_with_name('ros2:callback_start')
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end_events = self.get_events_with_name('ros2:callback_end')
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for event in srv_init_events:
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self.assertValidHandle(event, ['service_handle', 'node_handle', 'rmw_service_handle'])
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self.assertStringFieldNotEmpty(event, 'service_name')
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for event in callback_added_events:
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self.assertValidHandle(event, ['service_handle', 'callback'])
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for event in callback_register_events:
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self.assertValidPointer(event, 'callback')
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self.assertStringFieldNotEmpty(event, 'symbol')
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for event in start_events:
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self.assertValidHandle(event, 'callback')
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# Should not be 1 for services (yet)
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self.assertFieldEquals(
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event,
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'is_intra_process',
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0,
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'invalid value for is_intra_process',
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)
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for event in end_events:
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self.assertValidHandle(event, 'callback')
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# Check that the test service name exists
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test_srv_init_events = self.get_events_with_procname('test_service', srv_init_events)
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event_service_names = self.get_events_with_field_value(
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# Check that the test services names exists
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ping_node_srv_init_events = self.get_events_with_procname(
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'test_service_ping',
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srv_init_events,
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)
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ping_node_test_srv_init_events = self.get_events_with_field_value(
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'service_name',
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'/the_service',
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test_srv_init_events,
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'/pong',
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ping_node_srv_init_events,
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)
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self.assertEqual(
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len(ping_node_test_srv_init_events),
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1,
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'none or more than 1 /pong service under the test_service_pong node',
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)
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pong_node_srv_init_events = self.get_events_with_procname(
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'test_service_pong',
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srv_init_events,
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)
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pong_node_test_srv_init_events = self.get_events_with_field_value(
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'service_name',
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'/ping',
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pong_node_srv_init_events,
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)
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self.assertGreaterEqual(
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len(event_service_names),
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len(pong_node_test_srv_init_events),
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1,
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'cannot find test service name',
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)
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# Check that the node handle matches the node_init event
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# Check that the service init events have a matching node handle (with node_init events)
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node_init_events = self.get_events_with_name('ros2:rcl_node_init')
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test_srv_node_init_events = self.get_events_with_procname(
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'test_service',
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node_init_events,
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)
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self.assertNumEventsEqual(
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test_srv_node_init_events,
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1,
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'none or more than 1 rcl_node_init event',
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)
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test_srv_node_init_event = test_srv_node_init_events[0]
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ping_node_test_srv_init_event = ping_node_test_srv_init_events[0]
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self.assertMatchingField(
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test_srv_node_init_event,
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ping_node_test_srv_init_event,
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'node_handle',
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'ros2:rcl_service_init',
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test_srv_init_events,
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None,
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node_init_events,
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False,
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)
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# Check that the service handles match
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test_event_srv_init = event_service_names[0]
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pong_node_test_srv_init_event = pong_node_test_srv_init_events[0]
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self.assertMatchingField(
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test_event_srv_init,
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'service_handle',
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pong_node_test_srv_init_event,
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'node_handle',
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None,
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node_init_events,
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False,
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)
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# Check that there are matching rclcpp_service_callback_added events
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ping_node_test_service_handle = self.get_field(
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ping_node_test_srv_init_event,
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'service_handle',
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)
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pong_node_test_service_handle = self.get_field(
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pong_node_test_srv_init_event,
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'service_handle',
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)
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ping_node_srv_callback_added_events = self.get_events_with_procname(
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'test_service_ping',
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callback_added_events,
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)
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ping_node_test_srv_callback_added_events = self.get_events_with_field_value(
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'service_handle',
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ping_node_test_service_handle,
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ping_node_srv_callback_added_events,
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)
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self.assertEqual(
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len(ping_node_test_srv_callback_added_events),
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1,
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'none or more than 1 matching callback_added events for the test_service_ping node',
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)
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pong_node_srv_callback_added_events = self.get_events_with_procname(
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'test_service_pong',
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callback_added_events,
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)
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pong_node_test_srv_callback_added_events = self.get_events_with_field_value(
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'service_handle',
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pong_node_test_service_handle,
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pong_node_srv_callback_added_events,
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)
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self.assertEqual(
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len(pong_node_test_srv_callback_added_events),
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1,
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'none or more than 1 matching callback_added events for the test_service_pong node',
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)
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# Check that there are matching rclcpp_callback_register events
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ping_node_test_callback_ref = self.get_field(
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ping_node_test_srv_callback_added_events[0],
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'callback',
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)
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pong_node_test_callback_ref = self.get_field(
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pong_node_test_srv_callback_added_events[0],
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'callback',
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)
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ping_node_callback_register_events = self.get_events_with_procname(
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'test_service_ping',
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callback_register_events,
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)
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ping_node_test_callback_register_events = self.get_events_with_field_value(
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'callback',
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ping_node_test_callback_ref,
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ping_node_callback_register_events,
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)
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self.assertEqual(
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len(ping_node_test_callback_register_events),
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1,
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'none or more than 1 matching callback_register events for the test_service_ping node',
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)
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pong_node_callback_register_events = self.get_events_with_procname(
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'test_service_pong',
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callback_register_events,
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)
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pong_node_test_callback_register_events = self.get_events_with_field_value(
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'callback',
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pong_node_test_callback_ref,
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pong_node_callback_register_events,
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)
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self.assertEqual(
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len(pong_node_test_callback_register_events),
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1,
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'none or more than 1 matching callback_register events for the test_service_pong node',
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)
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# Check that there are corresponding callback_start/stop pairs
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ping_node_test_callback_start_events = self.get_events_with_field_value(
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'callback',
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ping_node_test_callback_ref,
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start_events,
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)
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self.assertEqual(
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len(ping_node_test_callback_start_events),
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1,
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'none or more than 1 matching callback_start events for the test_service_ping node',
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)
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pong_node_test_callback_start_events = self.get_events_with_field_value(
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'callback',
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pong_node_test_callback_ref,
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start_events,
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)
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self.assertEqual(
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len(pong_node_test_callback_start_events),
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1,
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'none or more than 1 matching callback_start events for the test_service_pong node',
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)
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ping_node_test_callback_end_events = self.get_events_with_field_value(
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'callback',
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ping_node_test_callback_ref,
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end_events,
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)
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self.assertEqual(
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len(ping_node_test_callback_end_events),
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1,
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'none or more than 1 matching callback_end events for the test_service_ping node',
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)
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pong_node_test_callback_end_events = self.get_events_with_field_value(
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'callback',
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pong_node_test_callback_ref,
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end_events,
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)
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self.assertEqual(
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len(pong_node_test_callback_end_events),
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1,
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'none or more than 1 matching callback_end events for the test_service_pong node',
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)
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if __name__ == '__main__':
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@ -1,70 +0,0 @@
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# Copyright 2019 Robert Bosch GmbH
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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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import unittest
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from tracetools_test.case import TraceTestCase
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class TestServiceCallback(TraceTestCase):
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def __init__(self, *args) -> None:
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super().__init__(
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*args,
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session_name_prefix='session-test-service-callback',
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events_ros=[
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'ros2:callback_start',
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'ros2:callback_end',
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],
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nodes=['test_service_ping', 'test_service_pong'],
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)
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def test_all(self):
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# Check events as set
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self.assertEventsSet(self._events_ros)
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# Check fields
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start_events = self.get_events_with_name('ros2:callback_start')
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end_events = self.get_events_with_name('ros2:callback_end')
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for event in start_events:
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self.assertValidHandle(event, 'callback')
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# Should not be 1 for services (yet)
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self.assertFieldEquals(
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event,
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'is_intra_process',
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0,
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'invalid value for is_intra_process',
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)
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for event in end_events:
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self.assertValidHandle(event, 'callback')
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# Check that there is at least 1 start/end pair for each node
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for node in self._nodes:
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test_start_events = self.get_events_with_procname(node, start_events)
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test_end_events = self.get_events_with_procname(node, end_events)
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self.assertGreater(
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len(test_start_events),
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0,
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f'no start_callback events for node: {node}',
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)
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self.assertGreater(
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len(test_end_events),
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0,
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f'no end_callback events for node: {node}',
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)
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if __name__ == '__main__':
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unittest.main()
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