From cc8187e55b430e171766c2f610f203d6c6e8170e Mon Sep 17 00:00:00 2001
From: Christophe Bedard <bedard.christophe@gmail.com>
Date: Fri, 31 May 2019 16:43:04 +0200
Subject: [PATCH] Add subscription creation test

---
 tracetools_test/CMakeLists.txt             | 10 ++++
 tracetools_test/test/test_publisher.cpp    |  4 +-
 tracetools_test/test/test_publisher.py     |  1 +
 tracetools_test/test/test_subscription.cpp | 41 ++++++++++++++++
 tracetools_test/test/test_subscription.py  | 57 ++++++++++++++++++++++
 5 files changed, 111 insertions(+), 2 deletions(-)
 create mode 100644 tracetools_test/test/test_subscription.cpp
 create mode 100644 tracetools_test/test/test_subscription.py

diff --git a/tracetools_test/CMakeLists.txt b/tracetools_test/CMakeLists.txt
index c1479bb..7105fd3 100644
--- a/tracetools_test/CMakeLists.txt
+++ b/tracetools_test/CMakeLists.txt
@@ -23,8 +23,17 @@ if(BUILD_TESTING)
     rclcpp
     std_msgs
   )
+  add_executable(test_subscription
+    test/test_subscription.cpp
+  )
+  ament_target_dependencies(test_subscription
+    rclcpp
+    std_msgs
+  )
+
   install(TARGETS
     test_publisher
+    test_subscription
     DESTINATION lib/${PROJECT_NAME}
   )
 
@@ -33,6 +42,7 @@ if(BUILD_TESTING)
   # Run each test in its own pytest invocation
   set(_tracetools_test_pytest_tests
     test/test_publisher.py
+    test/test_subscription.py
   )
 
   foreach(_test_path ${_tracetools_test_pytest_tests})
diff --git a/tracetools_test/test/test_publisher.cpp b/tracetools_test/test/test_publisher.cpp
index 05210d5..a12c30e 100644
--- a/tracetools_test/test/test_publisher.cpp
+++ b/tracetools_test/test/test_publisher.cpp
@@ -5,7 +5,7 @@
 class PubNode : public rclcpp::Node
 {
 public:
-    PubNode() : Node("pub_node")
+    PubNode(rclcpp::NodeOptions options) : Node("pub_node", options)
     {
         pub_ = this->create_publisher<std_msgs::msg::String>(
             "the_topic",
@@ -21,7 +21,7 @@ int main(int argc, char* argv[])
     rclcpp::init(argc, argv);
 
     rclcpp::executors::SingleThreadedExecutor exec;
-    auto pub_node = std::make_shared<PubNode>();
+    auto pub_node = std::make_shared<PubNode>(rclcpp::NodeOptions());
     exec.add_node(pub_node);
 
     printf("spinning once\n");
diff --git a/tracetools_test/test/test_publisher.py b/tracetools_test/test/test_publisher.py
index c3e0b1e..0301091 100644
--- a/tracetools_test/test/test_publisher.py
+++ b/tracetools_test/test/test_publisher.py
@@ -51,5 +51,6 @@ class TestPublisher(unittest.TestCase):
 
         shutil.rmtree(path)
 
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/tracetools_test/test/test_subscription.cpp b/tracetools_test/test/test_subscription.cpp
new file mode 100644
index 0000000..9207de4
--- /dev/null
+++ b/tracetools_test/test/test_subscription.cpp
@@ -0,0 +1,41 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+
+class SubNode : public rclcpp::Node
+{
+public:
+    SubNode(rclcpp::NodeOptions options) : Node("sub_node", options)
+    {
+        sub_ = this->create_subscription<std_msgs::msg::String>(
+            "the_topic",
+            rclcpp::QoS(10),
+            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;
+}
diff --git a/tracetools_test/test/test_subscription.py b/tracetools_test/test/test_subscription.py
new file mode 100644
index 0000000..625fda5
--- /dev/null
+++ b/tracetools_test/test/test_subscription.py
@@ -0,0 +1,57 @@
+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'
+
+subscription_creation_events = [
+    'ros2:rcl_subscription_init',
+    'ros2:rclcpp_subscription_callback_added',
+]
+
+class TestSubscription(unittest.TestCase):
+
+    def test_creation(self):
+        session_name = f'session-test-subscription-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=subscription_creation_events, kernel_events=None)
+        lttng_start(session_name)
+
+        ld = LaunchDescription([
+            launch_ros.actions.Node(
+                package=PKG, node_executable='test_subscription', 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(subscription_creation_events, list(trace_events))
+
+        shutil.rmtree(path)
+
+
+if __name__ == '__main__':
+    unittest.main()