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Merge test_subscription* into test_subscription

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This commit is contained in:
Christophe Bedard 2019-11-16 16:43:53 -08:00
parent 7c0e5712b1
commit 3a8f30e710
5 changed files with 70 additions and 151 deletions
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11
tracetools_test/CMakeLists.txt
View file

@ -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
)

5
tracetools_test/src/test_ping.cpp
View file

@ -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));

59
tracetools_test/src/test_subscription.cpp
View file

@ -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;
}

72
tracetools_test/test/test_subscription.py
View file

@ -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()

74
tracetools_test/test/test_subscription_callback.py
View file

@ -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()