From 3c4a386003a5bcd6ecad2b30e53d9644431e0aff Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Thu, 14 Nov 2019 16:17:18 -0800 Subject: [PATCH] Update test_intra test after new intra-process communications --- tracetools_test/test/test_intra.py | 104 ++++++++++++++++++++--------- 1 file changed, 72 insertions(+), 32 deletions(-) diff --git a/tracetools_test/test/test_intra.py b/tracetools_test/test/test_intra.py index e4f20d6..e7f447a 100644 --- a/tracetools_test/test/test_intra.py +++ b/tracetools_test/test/test_intra.py @@ -25,45 +25,68 @@ class TestIntra(TraceTestCase): session_name_prefix='session-test-intra', events_ros=[ 'ros2:rcl_subscription_init', + 'ros2:rclcpp_subscription_init', 'ros2:rclcpp_subscription_callback_added', 'ros2:callback_start', 'ros2:callback_end', ], - nodes=['test_intra'] + nodes=['test_intra'], ) def test_all(self): # Check events as set self.assertEventsSet(self._events_ros) - # Check sub_init - sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init') - sub_init_normal_events = self.get_events_with_field_value( + print('EVENTS: ', self._events) + + # Check rcl_subscription_init events + rcl_sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init') + rcl_sub_init_topic_events = self.get_events_with_field_value( 'topic_name', '/the_topic', - sub_init_events) + rcl_sub_init_events, + ) + # Only 1 for our given topic self.assertNumEventsEqual( - sub_init_normal_events, + rcl_sub_init_topic_events, 1, - 'none or more than 1 sub init event') + 'none or more than 1 rcl_sub_init event for the topic', + ) # Get subscription handle - sub_init_normal_event = sub_init_normal_events[0] - sub_handle_intra = self.get_field(sub_init_normal_event, 'subscription_handle') + rcl_sub_init_topic_event = rcl_sub_init_topic_events[0] + sub_handle_intra = self.get_field(rcl_sub_init_topic_event, 'subscription_handle') - # Get corresponding callback handle - # Callback handle - callback_added_events = self.get_events_with_field_value( + # Check rclcpp_subscription_init events + rclcpp_sub_init_events = self.get_events_with_name('ros2:rclcpp_subscription_init') + rclcpp_sub_init_topic_events = self.get_events_with_field_value( 'subscription_handle', sub_handle_intra, - self.get_events_with_name( - 'ros2:rclcpp_subscription_callback_added')) + rclcpp_sub_init_events, + ) + # Should have 2 events for the given subscription handle + # (Subscription and SubscriptionIntraProcess) self.assertNumEventsEqual( - callback_added_events, - 1, - 'none or more than 1 callback added event') - callback_added_event = callback_added_events[0] - callback_handle = self.get_field(callback_added_event, 'callback') + rclcpp_sub_init_topic_events, + 2, + 'number of rclcpp_sub_init events for the topic not equal to 2', + ) + + # Get the 2 subscription pointers + events = rclcpp_sub_init_topic_events + subscription_pointers = [self.get_field(e, 'subscription') for e in events] + + # Get the corresponding callback pointers + rclcpp_sub_callback_added_events = self.get_events_with_name( + 'ros2:rclcpp_subscription_callback_added', + ) + rclcpp_sub_callback_added_topic_events = self.get_events_with_field_value( + 'subscription', + subscription_pointers, + rclcpp_sub_callback_added_events, + ) + events = rclcpp_sub_callback_added_topic_events + callback_pointers = [self.get_field(e, 'callback') for e in events] # Get corresponding callback start/end pairs start_events = self.get_events_with_name('ros2:callback_start') @@ -77,30 +100,47 @@ class TestIntra(TraceTestCase): end_events, 1, 'does not have at least 1 callback end event') - start_events_intra = self.get_events_with_field_value( + start_events_topic = self.get_events_with_field_value( 'callback', - callback_handle, + callback_pointers, start_events) - end_events_intra = self.get_events_with_field_value( + end_events_topic = self.get_events_with_field_value( 'callback', - callback_handle, + callback_pointers, end_events) self.assertNumEventsGreaterEqual( - start_events_intra, + start_events_topic, 1, - 'no intra start event') + 'no callback_start event found for topic') self.assertNumEventsGreaterEqual( - end_events_intra, + end_events_topic, 1, - 'no intra end event') + 'no callback_end found event for topic') - # Check is_intra_process field value - start_event_intra = start_events_intra[0] - self.assertFieldEquals( - start_event_intra, + # Check for is_intra_process field value of 1/true + start_events_intra = self.get_events_with_field_value( 'is_intra_process', 1, - 'is_intra_process field value not valid for intra callback') + start_events_topic, + ) + # Should have one event + self.assertNumEventsEqual( + start_events_intra, + 1, + 'none or more than 1 callback_start event for intra-process topic', + ) + # As a sanity check, make sure its callback pointer has a corresponding callback_end event + callback_pointer_intra = self.get_field(start_events_intra[0], 'callback') + end_events_intra = self.get_events_with_field_value( + 'callback', + callback_pointer_intra, + end_events_topic, + ) + self.assertNumEventsEqual( + end_events_intra, + 1, + 'none or more than 1 callback_end event for intra-process topic', + ) if __name__ == '__main__':