From 6caaa517644f20d3a6b479a109c9a2df3ce9b546 Mon Sep 17 00:00:00 2001
From: Christophe Bedard <bedard.christophe@gmail.com>
Date: Fri, 31 May 2019 16:07:11 +0200
Subject: [PATCH] Add tracetools_test package with simple test

---
 tracetools_test/.gitignore              |  2 +
 tracetools_test/CMakeLists.txt          | 49 ++++++++++++++++++++++
 tracetools_test/package.xml             | 28 +++++++++++++
 tracetools_test/test/test_publisher.cpp | 32 ++++++++++++++
 tracetools_test/test/test_publisher.py  | 55 +++++++++++++++++++++++++
 5 files changed, 166 insertions(+)
 create mode 100644 tracetools_test/.gitignore
 create mode 100644 tracetools_test/CMakeLists.txt
 create mode 100644 tracetools_test/package.xml
 create mode 100644 tracetools_test/test/test_publisher.cpp
 create mode 100644 tracetools_test/test/test_publisher.py

diff --git a/tracetools_test/.gitignore b/tracetools_test/.gitignore
new file mode 100644
index 0000000..2f836aa
--- /dev/null
+++ b/tracetools_test/.gitignore
@@ -0,0 +1,2 @@
+*~
+*.pyc
diff --git a/tracetools_test/CMakeLists.txt b/tracetools_test/CMakeLists.txt
new file mode 100644
index 0000000..c1479bb
--- /dev/null
+++ b/tracetools_test/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.5)
+project(tracetools_test)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Tests
+if(BUILD_TESTING)
+  add_executable(test_publisher
+    test/test_publisher.cpp
+  )
+  ament_target_dependencies(test_publisher
+    rclcpp
+    std_msgs
+  )
+  install(TARGETS
+    test_publisher
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
+  find_package(ament_cmake_pytest REQUIRED)
+
+  # Run each test in its own pytest invocation
+  set(_tracetools_test_pytest_tests
+    test/test_publisher.py
+  )
+
+  foreach(_test_path ${_tracetools_test_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+      APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
+        PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+    )
+  endforeach()
+endif()
+
+ament_package()
diff --git a/tracetools_test/package.xml b/tracetools_test/package.xml
new file mode 100644
index 0000000..a4d661e
--- /dev/null
+++ b/tracetools_test/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>tracetools_test</name>
+  <version>0.0.1</version>
+  <description>Separate test package for tracetools</description>
+  <author email="bedard.christophe@gmail.com">Christophe Bedard</author>
+  <maintainer email="bedard.christophe@gmail.com">Christophe Bedard</maintainer>
+  <license>APLv2</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>pkg-config</buildtool_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>tracetools_trace</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/tracetools_test/test/test_publisher.cpp b/tracetools_test/test/test_publisher.cpp
new file mode 100644
index 0000000..05210d5
--- /dev/null
+++ b/tracetools_test/test/test_publisher.cpp
@@ -0,0 +1,32 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+
+class PubNode : public rclcpp::Node
+{
+public:
+    PubNode() : Node("pub_node")
+    {
+        pub_ = this->create_publisher<std_msgs::msg::String>(
+            "the_topic",
+            rclcpp::QoS(10));
+    }
+
+private:
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
+};
+
+int main(int argc, char* argv[])
+{
+    rclcpp::init(argc, argv);
+
+    rclcpp::executors::SingleThreadedExecutor exec;
+    auto pub_node = std::make_shared<PubNode>();
+    exec.add_node(pub_node);
+
+    printf("spinning once\n");
+    exec.spin_once();
+
+    rclcpp::shutdown();
+    return 0;
+}
diff --git a/tracetools_test/test/test_publisher.py b/tracetools_test/test/test_publisher.py
new file mode 100644
index 0000000..c3e0b1e
--- /dev/null
+++ b/tracetools_test/test/test_publisher.py
@@ -0,0 +1,55 @@
+import time
+import shutil
+from launch import LaunchDescription
+from launch import LaunchIntrospector
+from launch import LaunchService
+
+from launch_ros import get_default_launch_description
+import launch_ros.actions
+import unittest
+from tracetools_analysis.test.utils import get_trace_event_names
+from tracetools_trace.tools.lttng import (
+    lttng_setup,
+    lttng_start,
+    lttng_stop,
+    lttng_destroy,
+)
+
+PKG = 'tracetools_test'
+
+publisher_creation_events = [
+    'ros2:rcl_publisher_init',
+]
+
+class TestPublisher(unittest.TestCase):
+
+    def test_creation(self):
+        session_name = f'session-test-publisher-creation-{time.strftime("%Y%m%d%H%M%S")}'
+        path = '/tmp/' + session_name
+        print(f'trace directory: {path}')
+
+        lttng_setup(session_name, path, ros_events=publisher_creation_events, kernel_events=None)
+        lttng_start(session_name)
+
+        ld = LaunchDescription([
+            launch_ros.actions.Node(
+                package=PKG, node_executable='test_publisher', output='screen'),
+        ])
+        ls = LaunchService()
+        ls.include_launch_description(get_default_launch_description())
+        ls.include_launch_description(ld)
+
+        exit_code = ls.run()
+        self.assertEqual(exit_code, 0)
+
+        lttng_stop(session_name)
+        lttng_destroy(session_name)
+
+        trace_events = get_trace_event_names(path)
+        print(f'trace_events: {trace_events}')
+        self.assertListEqual(publisher_creation_events, list(trace_events))
+
+        shutil.rmtree(path)
+
+if __name__ == '__main__':
+    unittest.main()