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Update test_intra test after new intra-process communications

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This commit is contained in:
Christophe Bedard 2019-11-14 16:17:18 -08:00
parent fc1ce31504
commit 3c4a386003
1 changed files with 72 additions and 32 deletions
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104
tracetools_test/test/test_intra.py
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@ -25,45 +25,68 @@ class TestIntra(TraceTestCase):
session_name_prefix='session-test-intra', session_name_prefix='session-test-intra',
events_ros=[ events_ros=[
'ros2:rcl_subscription_init', 'ros2:rcl_subscription_init',
'ros2:rclcpp_subscription_init',
'ros2:rclcpp_subscription_callback_added', 'ros2:rclcpp_subscription_callback_added',
'ros2:callback_start', 'ros2:callback_start',
'ros2:callback_end', 'ros2:callback_end',
], ],
nodes=['test_intra'] nodes=['test_intra'],
) )
def test_all(self): def test_all(self):
# Check events as set # Check events as set
self.assertEventsSet(self._events_ros) self.assertEventsSet(self._events_ros)
# Check sub_init print('EVENTS: ', self._events)
sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init')
sub_init_normal_events = self.get_events_with_field_value( # 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', 'topic_name',
'/the_topic', '/the_topic',
sub_init_events) rcl_sub_init_events,
)
# Only 1 for our given topic
self.assertNumEventsEqual( self.assertNumEventsEqual(
sub_init_normal_events, rcl_sub_init_topic_events,
1, 1,
'none or more than 1 sub init event') 'none or more than 1 rcl_sub_init event for the topic',
)
# Get subscription handle # Get subscription handle
sub_init_normal_event = sub_init_normal_events[0] rcl_sub_init_topic_event = rcl_sub_init_topic_events[0]
sub_handle_intra = self.get_field(sub_init_normal_event, 'subscription_handle') sub_handle_intra = self.get_field(rcl_sub_init_topic_event, 'subscription_handle')
# Get corresponding callback handle # Check rclcpp_subscription_init events
# Callback handle rclcpp_sub_init_events = self.get_events_with_name('ros2:rclcpp_subscription_init')
callback_added_events = self.get_events_with_field_value( rclcpp_sub_init_topic_events = self.get_events_with_field_value(
'subscription_handle', 'subscription_handle',
sub_handle_intra, sub_handle_intra,
self.get_events_with_name( rclcpp_sub_init_events,
'ros2:rclcpp_subscription_callback_added')) )
# Should have 2 events for the given subscription handle
# (Subscription and SubscriptionIntraProcess)
self.assertNumEventsEqual( self.assertNumEventsEqual(
callback_added_events, rclcpp_sub_init_topic_events,
1, 2,
'none or more than 1 callback added event') 'number of rclcpp_sub_init events for the topic not equal to 2',
callback_added_event = callback_added_events[0] )
callback_handle = self.get_field(callback_added_event, 'callback')
# 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 # Get corresponding callback start/end pairs
start_events = self.get_events_with_name('ros2:callback_start') start_events = self.get_events_with_name('ros2:callback_start')
@ -77,30 +100,47 @@ class TestIntra(TraceTestCase):
end_events, end_events,
1, 1,
'does not have at least 1 callback end event') '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',
callback_handle, callback_pointers,
start_events) start_events)
end_events_intra = self.get_events_with_field_value( end_events_topic = self.get_events_with_field_value(
'callback', 'callback',
callback_handle, callback_pointers,
end_events) end_events)
self.assertNumEventsGreaterEqual( self.assertNumEventsGreaterEqual(
start_events_intra, start_events_topic,
1, 1,
'no intra start event') 'no callback_start event found for topic')
self.assertNumEventsGreaterEqual( self.assertNumEventsGreaterEqual(
end_events_intra, end_events_topic,
1, 1,
'no intra end event') 'no callback_end found event for topic')
# Check is_intra_process field value # Check for is_intra_process field value of 1/true
start_event_intra = start_events_intra[0] start_events_intra = self.get_events_with_field_value(
self.assertFieldEquals(
start_event_intra,
'is_intra_process', 'is_intra_process',
1, 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__': if __name__ == '__main__':