From b7fc66a8819ef0f6935ad17260832b4df8e9a13e Mon Sep 17 00:00:00 2001
From: Christophe Bedard <fixed-term.christophe.bourquebedard@de.bosch.com>
Date: Fri, 21 Jun 2019 09:58:33 +0200
Subject: [PATCH] Check queue_depth value in pub and sub tests

---
 tracetools_test/src/test_publisher.cpp    |  3 ++-
 tracetools_test/src/test_subscription.cpp |  3 ++-
 tracetools_test/test/test_publisher.py    | 18 ++++++++++++++++--
 tracetools_test/test/test_subscription.py |  7 +++++++
 4 files changed, 27 insertions(+), 4 deletions(-)

diff --git a/tracetools_test/src/test_publisher.cpp b/tracetools_test/src/test_publisher.cpp
index c0d57a7..f1d2f26 100644
--- a/tracetools_test/src/test_publisher.cpp
+++ b/tracetools_test/src/test_publisher.cpp
@@ -19,6 +19,7 @@
 
 #define NODE_NAME "test_publisher"
 #define TOPIC_NAME "the_topic"
+#define QUEUE_DEPTH 10
 
 class PubNode : public rclcpp::Node
 {
@@ -28,7 +29,7 @@ public:
   {
     pub_ = this->create_publisher<std_msgs::msg::String>(
       TOPIC_NAME,
-      rclcpp::QoS(10));
+      rclcpp::QoS(QUEUE_DEPTH));
   }
 
 private:
diff --git a/tracetools_test/src/test_subscription.cpp b/tracetools_test/src/test_subscription.cpp
index 3f3ce82..a13e37d 100644
--- a/tracetools_test/src/test_subscription.cpp
+++ b/tracetools_test/src/test_subscription.cpp
@@ -19,6 +19,7 @@
 
 #define NODE_NAME "test_subscription"
 #define TOPIC_NAME "the_topic"
+#define QUEUE_DEPTH 10
 
 class SubNode : public rclcpp::Node
 {
@@ -28,7 +29,7 @@ public:
   {
     sub_ = this->create_subscription<std_msgs::msg::String>(
       TOPIC_NAME,
-      rclcpp::QoS(10),
+      rclcpp::QoS(QUEUE_DEPTH),
       std::bind(&SubNode::callback, this, std::placeholders::_1));
   }
 
diff --git a/tracetools_test/test/test_publisher.py b/tracetools_test/test/test_publisher.py
index 1abe87b..31c4cb0 100644
--- a/tracetools_test/test/test_publisher.py
+++ b/tracetools_test/test/test_publisher.py
@@ -45,8 +45,22 @@ class TestPublisher(TraceTestCase):
 
         # Check that the test topic name exists
         test_pub_init_events = self.get_events_with_procname('test_publisher', pub_init_events)
-        event_topic_names = [self.get_field(e, 'topic_name') for e in test_pub_init_events]
-        self.assertTrue('/the_topic' in event_topic_names, 'cannot find test topic name')
+        test_pub_init_topic_events = self.get_events_with_field_value(
+            'topic_name',
+            '/the_topic',
+            test_pub_init_events)
+        self.assertEqual(
+            len(test_pub_init_topic_events),
+            1,
+            'none or more than 1 pub_init even for test topic')
+
+        # Check queue_depth value
+        test_pub_init_topic_event = test_pub_init_topic_events[0]
+        test_queue_depth = self.get_field(test_pub_init_topic_event, 'queue_depth')
+        self.assertEqual(
+            test_queue_depth,
+            10,
+            'pub_init event does not have expected queue depth value')
 
         # Check that the node handle matches with the node_init event
         node_init_events = self.get_events_with_name('ros2:rcl_node_init')
diff --git a/tracetools_test/test/test_subscription.py b/tracetools_test/test/test_subscription.py
index 85d22a0..f724591 100644
--- a/tracetools_test/test/test_subscription.py
+++ b/tracetools_test/test/test_subscription.py
@@ -57,6 +57,13 @@ class TestSubscription(TraceTestCase):
         self.assertEqual(len(test_sub_init_events), 1, 'cannot find test topic name')
         test_sub_init_event = test_sub_init_events[0]
 
+        # Check queue_depth value
+        test_queue_depth = self.get_field(test_sub_init_event, 'queue_depth')
+        self.assertEqual(
+            test_queue_depth,
+            10,
+            'sub_init event does not have expected queue depth value')
+
         # 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(