Add service callback test

This commit is contained in:
Christophe Bedard 2019-06-03 13:05:05 +02:00
parent 77645f2a52
commit ce9d6eff95
4 changed files with 179 additions and 0 deletions

View file

@ -58,6 +58,20 @@ if(BUILD_TESTING)
rclcpp rclcpp
std_srvs std_srvs
) )
add_executable(test_service_ping
src/test_service_ping.cpp
)
ament_target_dependencies(test_service_ping
rclcpp
std_srvs
)
add_executable(test_service_pong
src/test_service_pong.cpp
)
ament_target_dependencies(test_service_pong
rclcpp
std_srvs
)
install(TARGETS install(TARGETS
test_publisher test_publisher
@ -66,6 +80,8 @@ if(BUILD_TESTING)
test_pong test_pong
test_timer test_timer
test_service test_service
test_service_ping
test_service_pong
DESTINATION lib/${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}
) )
@ -79,6 +95,7 @@ if(BUILD_TESTING)
test/test_subscription_callback.py test/test_subscription_callback.py
test/test_timer.py test/test_timer.py
test/test_service.py test/test_service.py
test/test_service_callback.py
) )
foreach(_test_path ${_tracetools_test_pytest_tests}) foreach(_test_path ${_tracetools_test_pytest_tests})

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@ -0,0 +1,68 @@
#include <memory>
#include <chrono>
#include "rclcpp/rclcpp.hpp"
#include "std_srvs/srv/empty.hpp"
using namespace std::chrono_literals;
class PingNode : public rclcpp::Node
{
public:
PingNode(rclcpp::NodeOptions options) : Node("ping_node", options)
{
srv_ = this->create_service<std_srvs::srv::Empty>(
"pong",
std::bind(&PingNode::service_callback,
this,
std::placeholders::_1,
std::placeholders::_2,
std::placeholders::_3));
client_ = this->create_client<std_srvs::srv::Empty>(
"ping");
timer_ = this->create_wall_timer(
500ms,
std::bind(&PingNode::timer_callback, this));
}
private:
void service_callback(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> request,
const std::shared_ptr<std_srvs::srv::Empty::Response> response)
{
(void)request_header;
(void)request;
(void)response;
RCLCPP_INFO(this->get_logger(), "got request");
rclcpp::shutdown();
}
void timer_callback()
{
auto req = std::make_shared<std_srvs::srv::Empty::Request>();
client_->async_send_request(req);
}
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char* argv[])
{
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor exec;
auto ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions());
exec.add_node(ping_node);
printf("spinning\n");
exec.spin();
// Will actually be called inside the node's service callback
rclcpp::shutdown();
return 0;
}

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@ -0,0 +1,57 @@
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_srvs/srv/empty.hpp"
class PongNode : public rclcpp::Node
{
public:
PongNode(rclcpp::NodeOptions options) : Node("pong_node", options)
{
srv_ = this->create_service<std_srvs::srv::Empty>(
"ping",
std::bind(&PongNode::service_callback,
this,
std::placeholders::_1,
std::placeholders::_2,
std::placeholders::_3));
client_ = this->create_client<std_srvs::srv::Empty>(
"pong");
}
private:
void service_callback(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> request,
const std::shared_ptr<std_srvs::srv::Empty::Response> response)
{
(void)request_header;
(void)request;
(void)response;
RCLCPP_INFO(this->get_logger(), "got request");
auto req = std::make_shared<std_srvs::srv::Empty::Request>();
client_->async_send_request(req);
rclcpp::shutdown();
}
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
};
int main(int argc, char* argv[])
{
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor exec;
auto pong_node = std::make_shared<PongNode>(rclcpp::NodeOptions());
exec.add_node(pong_node);
printf("spinning\n");
exec.spin();
// Will actually be called inside the node's service callback
rclcpp::shutdown();
return 0;
}

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@ -0,0 +1,37 @@
import unittest
from tracetools_test.utils import (
get_trace_event_names,
run_and_trace,
cleanup_trace,
)
BASE_PATH = '/tmp'
PKG = 'tracetools_test'
service_callback_events = [
'ros2:rclcpp_service_callback_start',
'ros2:rclcpp_service_callback_end',
]
class TestServiceCallback(unittest.TestCase):
def test_callback(self):
session_name_prefix = 'session-test-service-callback'
test_nodes = ['test_service_ping', 'test_service_pong']
exit_code, full_path = run_and_trace(BASE_PATH,
session_name_prefix,
service_callback_events,
None,
PKG,
test_nodes)
self.assertEqual(exit_code, 0)
trace_events = get_trace_event_names(full_path)
print(f'trace_events: {trace_events}')
self.assertSetEqual(set(service_callback_events), trace_events)
cleanup_trace(full_path)
if __name__ == '__main__':
unittest.main()