Merge test_subscription* into test_subscription

tracetools_test/CMakeLists.txt

@@ -47,15 +47,6 @@ if(BUILD_TESTING)
     tracetools
   )
   target_link_libraries(test_publisher "${RDYNAMIC_FLAG}")
-  add_executable(test_subscription
-    src/test_subscription.cpp
-  )
-  ament_target_dependencies(test_subscription
-    rclcpp
-    std_msgs
-    tracetools
-  )
-  target_link_libraries(test_subscription "${RDYNAMIC_FLAG}")
   add_executable(test_intra
     src/test_intra.cpp
   )
@@ -127,7 +118,6 @@ if(BUILD_TESTING)
     test_service
     test_service_ping
     test_service_pong
-    test_subscription
     test_timer
     DESTINATION lib/${PROJECT_NAME}
   )
@@ -147,7 +137,6 @@ if(BUILD_TESTING)
       test/test_service.py
       test/test_service_callback.py
       test/test_subscription.py
-      test/test_subscription_callback.py
       test/test_timer.py
     )
 

tracetools_test/src/test_ping.cpp

@@ -23,6 +23,7 @@ using namespace std::chrono_literals;
 #define NODE_NAME "test_ping"
 #define SUB_TOPIC_NAME "pong"
 #define PUB_TOPIC_NAME "ping"
+#define QUEUE_DEPTH 10
 
 class PingNode : public rclcpp::Node
 {
@@ -32,11 +33,11 @@ public:
   {
     sub_ = this->create_subscription<std_msgs::msg::String>(
       SUB_TOPIC_NAME,
-      rclcpp::QoS(10),
+      rclcpp::QoS(QUEUE_DEPTH),
       std::bind(&PingNode::callback, this, std::placeholders::_1));
     pub_ = this->create_publisher<std_msgs::msg::String>(
       PUB_TOPIC_NAME,
-      rclcpp::QoS(10));
+      rclcpp::QoS(QUEUE_DEPTH));
     timer_ = this->create_wall_timer(
       500ms,
       std::bind(&PingNode::timer_callback, this));

tracetools_test/src/test_subscription.cpp

@@ -1,59 +0,0 @@
-// Copyright 2019 Robert Bosch GmbH
-//
-// 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 <memory>
-
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
-
-#define NODE_NAME "test_subscription"
-#define TOPIC_NAME "the_topic"
-#define QUEUE_DEPTH 10
-
-class SubNode : public rclcpp::Node
-{
-public:
-  explicit SubNode(rclcpp::NodeOptions options)
-  : Node(NODE_NAME, options)
-  {
-    sub_ = this->create_subscription<std_msgs::msg::String>(
-      TOPIC_NAME,
-      rclcpp::QoS(QUEUE_DEPTH),
-      std::bind(&SubNode::callback, this, std::placeholders::_1));
-  }
-
-private:
-  void callback(const std_msgs::msg::String::SharedPtr msg)
-  {
-    // Nothing
-    (void)msg;
-  }
-
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
-};
-
-int main(int argc, char * argv[])
-{
-  rclcpp::init(argc, argv);
-
-  rclcpp::executors::SingleThreadedExecutor exec;
-  auto sub_node = std::make_shared<SubNode>(rclcpp::NodeOptions());
-  exec.add_node(sub_node);
-
-  printf("spinning once\n");
-  exec.spin_once();
-
-  rclcpp::shutdown();
-  return 0;
-}

tracetools_test/test/test_subscription.py

@@ -1,4 +1,5 @@
 # Copyright 2019 Robert Bosch GmbH
+# Copyright 2019 Apex.AI, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -22,14 +23,16 @@ class TestSubscription(TraceTestCase):
     def __init__(self, *args) -> None:
         super().__init__(
             *args,
-            session_name_prefix='session-test-subscription-creation',
+            session_name_prefix='session-test-subscription',
             events_ros=[
                 'ros2:rcl_node_init',
                 'ros2:rcl_subscription_init',
                 'ros2:rclcpp_subscription_init',
                 'ros2:rclcpp_subscription_callback_added',
+                'ros2:callback_start',
+                'ros2:callback_end',
             ],
-            nodes=['test_subscription'],
+            nodes=['test_ping', 'test_pong'],
         )
 
     def test_all(self):
@@ -42,6 +45,8 @@ class TestSubscription(TraceTestCase):
         callback_added_events = self.get_events_with_name(
             'ros2:rclcpp_subscription_callback_added',
         )
+        start_events = self.get_events_with_name('ros2:callback_start')
+        end_events = self.get_events_with_name('ros2:callback_end')
 
         for event in rcl_sub_init_events:
             self.assertValidHandle(
@@ -57,11 +62,22 @@ class TestSubscription(TraceTestCase):
             )
         for event in callback_added_events:
             self.assertValidHandle(event, ['subscription', 'callback'])
+        for event in start_events:
+            self.assertValidHandle(event, 'callback')
+            is_intra_process_value = self.get_field(event, 'is_intra_process')
+            self.assertIsInstance(is_intra_process_value, int, 'is_intra_process not int')
+            self.assertTrue(
+                is_intra_process_value in [0, 1],
+                f'invalid value for is_intra_process: {is_intra_process_value}',
+            )
+        for event in end_events:
+            self.assertValidHandle(event, 'callback')
 
-        # Check that the test topic name exists
+        # Check that the pong test topic name exists
+        # Note: using the ping node
         test_rcl_sub_init_events = self.get_events_with_field_value(
             'topic_name',
-            '/the_topic',
+            '/pong',
             rcl_sub_init_events,
         )
         self.assertNumEventsEqual(test_rcl_sub_init_events, 1, 'cannot find test topic name')
@@ -78,7 +94,7 @@ class TestSubscription(TraceTestCase):
         # Check that the node handle matches the node_init event
         node_init_events = self.get_events_with_name('ros2:rcl_node_init')
         test_sub_node_init_events = self.get_events_with_procname(
-            'test_subscription',
+            'test_ping',
             node_init_events,
         )
         self.assertNumEventsEqual(
@@ -122,6 +138,52 @@ class TestSubscription(TraceTestCase):
             'none or more than 1 rclcpp_sub_callback_added event for topic',
         )
 
+        # Check that each start:end pair has a common callback handle
+        ping_events = self.get_events_with_procname('test_ping')
+        pong_events = self.get_events_with_procname('test_pong')
+        ping_events_start = self.get_events_with_name('ros2:callback_start', ping_events)
+        pong_events_start = self.get_events_with_name('ros2:callback_start', pong_events)
+        for ping_start in ping_events_start:
+            self.assertMatchingField(
+                ping_start,
+                'callback',
+                'ros2:callback_end',
+                ping_events,
+            )
+        for pong_start in pong_events_start:
+            self.assertMatchingField(
+                pong_start,
+                'callback',
+                'ros2:callback_end',
+                pong_events,
+            )
+
+        # Check that callback pointer matches between sub_callback_added and callback_start/end
+        # There is only one callback for /pong topic in ping node
+        callback_added_matching_event = callback_added_matching_events[0]
+        callback_pointer = self.get_field(callback_added_matching_event, 'callback')
+        callback_start_matching_events = self.get_events_with_field_value(
+            'callback',
+            callback_pointer,
+            ping_events_start,
+        )
+        self.assertNumEventsEqual(
+            callback_start_matching_events,
+            1,
+            'none or more than 1 callback_start event for topic callback',
+        )
+        ping_events_end = self.get_events_with_name('ros2:callback_end', ping_events)
+        callback_end_matching_events = self.get_events_with_field_value(
+            'callback',
+            callback_pointer,
+            ping_events_end,
+        )
+        self.assertNumEventsEqual(
+            callback_end_matching_events,
+            1,
+            'none or more than 1 callback_end event for topic callback',
+        )
+
 
 if __name__ == '__main__':
     unittest.main()

tracetools_test/test/test_subscription_callback.py

@@ -1,74 +0,0 @@
-# Copyright 2019 Robert Bosch GmbH
-#
-# 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.
-
-import unittest
-
-from tracetools_test.case import TraceTestCase
-
-
-class TestSubscriptionCallback(TraceTestCase):
-
-    def __init__(self, *args) -> None:
-        super().__init__(
-            *args,
-            session_name_prefix='session-test-subscription-callback',
-            events_ros=[
-                'ros2:callback_start',
-                'ros2:callback_end',
-            ],
-            nodes=['test_ping', 'test_pong'],
-        )
-
-    def test_all(self):
-        # Check events as set
-        self.assertEventsSet(self._events_ros)
-
-        # Check fields
-        start_events = self.get_events_with_name('ros2:callback_start')
-        for event in start_events:
-            self.assertValidHandle(event, 'callback')
-            is_intra_process_value = self.get_field(event, 'is_intra_process')
-            self.assertIsInstance(is_intra_process_value, int, 'is_intra_process not int')
-            self.assertTrue(
-                is_intra_process_value in [0, 1],
-                f'invalid value for is_intra_process: {is_intra_process_value}',
-            )
-
-        end_events = self.get_events_with_name('ros2:callback_end')
-        for event in end_events:
-            self.assertValidHandle(event, 'callback')
-
-        # Check that a start:end pair has a common callback handle
-        ping_events = self.get_events_with_procname('test_ping')
-        pong_events = self.get_events_with_procname('test_pong')
-        ping_events_start = self.get_events_with_name('ros2:callback_start', ping_events)
-        pong_events_start = self.get_events_with_name('ros2:callback_start', pong_events)
-        for ping_start in ping_events_start:
-            self.assertMatchingField(
-                ping_start,
-                'callback',
-                'ros2:callback_end',
-                ping_events,
-            )
-        for pong_start in pong_events_start:
-            self.assertMatchingField(
-                pong_start,
-                'callback',
-                'ros2:callback_end',
-                pong_events,
-            )
-
-
-if __name__ == '__main__':
-    unittest.main()