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Add more tests and more test utils

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This commit is contained in:
Christophe Bedard 2019-06-19 15:26:46 +02:00
parent 20cf197b87
commit eb8a7e2c26
10 changed files with 389 additions and 23 deletions
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5
tracetools_test/test/test_node.py
View file

@ -34,7 +34,7 @@ class TestNode(TraceTestCase):
)
def test_all(self):
# Check events order as set
# Check events order as set (e.g. init before node_init)
self.assertEventsOrderSet(self._events_ros)
# Check fields
@ -47,8 +47,7 @@ class TestNode(TraceTestCase):
rcl_node_init_events = self.get_events_with_name('ros2:rcl_node_init')
for event in rcl_node_init_events:
self.assertValidHandle(event, 'node_handle')
self.assertValidHandle(event, 'rmw_handle')
self.assertValidHandle(event, ['node_handle', 'rmw_handle'])
self.assertStringFieldNotEmpty(event, 'node_name')
self.assertStringFieldNotEmpty(event, 'namespace')

33
tracetools_test/test/test_publisher.py
View file

@ -24,13 +24,42 @@ class TestPublisher(TraceTestCase):
*args,
session_name_prefix='session-test-publisher-creation',
events_ros=[
'ros2:rcl_node_init',
'ros2:rcl_publisher_init',
],
nodes=['test_publisher']
)
def test_creation(self):
pass
def test_all(self):
# Check events order as set (e.g. node_init before pub_init)
self.assertEventsOrderSet(self._events_ros)
# Check fields
pub_init_events = self.get_events_with_name('ros2:rcl_publisher_init')
for event in pub_init_events:
self.assertValidHandle(
event,
['publisher_handle', 'node_handle', 'rmw_publisher_handle'])
self.assertValidQueueDepth(event, 'queue_depth')
self.assertStringFieldNotEmpty(event, 'topic_name')
# 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')
# Check that the node handle matches with the node_init event
node_init_events = self.get_events_with_name('ros2:rcl_node_init')
test_pub_node_init_events = self.get_events_with_procname(
'test_publisher',
node_init_events)
self.assertEqual(len(test_pub_node_init_events), 1, 'none or more than 1 node_init event')
test_pub_node_init_event = test_pub_node_init_events[0]
self.assertMatchingField(
test_pub_node_init_event,
'node_handle',
None,
test_pub_init_events)
if __name__ == '__main__':

48
tracetools_test/test/test_service.py
View file

@ -24,14 +24,58 @@ class TestService(TraceTestCase):
*args,
session_name_prefix='session-test-service-creation',
events_ros=[
'ros2:rcl_node_init',
'ros2:rcl_service_init',
'ros2:rclcpp_service_callback_added',
],
nodes=['test_service']
)
def test_creation(self):
pass
def test_all(self):
# Check events order as set (e.g. service_init before callback_added)
self.assertEventsOrderSet(self._events_ros)
# Check fields
srv_init_events = self.get_events_with_name('ros2:rcl_service_init')
for event in srv_init_events:
self.assertValidHandle(event, ['service_handle', 'node_handle', 'rmw_service_handle'])
self.assertStringFieldNotEmpty(event, 'service_name')
callback_added_events = self.get_events_with_name('ros2:rclcpp_service_callback_added')
for event in callback_added_events:
self.assertValidHandle(event, ['service_handle', 'callback'])
# Check that the test service name exists
test_srv_init_events = self.get_events_with_procname('test_service', srv_init_events)
event_service_names = self.get_events_with_field_value(
'service_name',
'/the_service',
test_srv_init_events)
self.assertGreaterEqual(
len(event_service_names),
1,
'cannot find test service name')
# Check that the node handle matches the node_init event
node_init_events = self.get_events_with_name('ros2:rcl_node_init')
test_srv_node_init_events = self.get_events_with_procname(
'test_service',
node_init_events)
self.assertEqual(len(test_srv_node_init_events), 1, 'none or more than 1 node_init event')
test_srv_node_init_event = test_srv_node_init_events[0]
self.assertMatchingField(
test_srv_node_init_event,
'node_handle',
'ros2:rcl_service_init',
test_srv_init_events)
# Check that the service handles match
test_event_srv_init = event_service_names[0]
self.assertMatchingField(
test_event_srv_init,
'service_handle',
None,
callback_added_events)
if __name__ == '__main__':

28
tracetools_test/test/test_service_callback.py
View file

@ -30,8 +30,32 @@ class TestServiceCallback(TraceTestCase):
nodes=['test_service_ping', 'test_service_pong']
)
def test_callback(self):
pass
def test_all(self):
# Check events order as set (e.g. start before end)
self.assertEventsOrderSet(self._events_ros)
# Check fields
start_events = self.get_events_with_name('ros2:callback_start')
for event in start_events:
self.assertValidHandle(event, 'callback')
is_intra_process_value = self.get_field(event, 'is_intra_process')
self.assertIsInstance(is_intra_process_value, int, 'is_intra_process not int')
# Should not be 1 for services (yet)
self.assertEqual(
is_intra_process_value,
0,
f'invalid value for is_intra_process: {is_intra_process_value}')
end_events = self.get_events_with_name('ros2:callback_end')
for event in end_events:
self.assertValidHandle(event, 'callback')
# Check that there is at least a start/end pair for each node
for node in self._nodes:
test_start_events = self.get_events_with_procname(node, start_events)
test_end_events = self.get_events_with_procname(node, end_events)
self.assertGreater(len(test_start_events), 0, f'no start_callback events for node: {node}')
self.assertGreater(len(test_end_events), 0, f'no end_callback events for node: {node}')
if __name__ == '__main__':

50
tracetools_test/test/test_subscription.py
View file

@ -24,14 +24,60 @@ class TestSubscription(TraceTestCase):
*args,
session_name_prefix='session-test-subscription-creation',
events_ros=[
'ros2:rcl_node_init',
'ros2:rcl_subscription_init',
'ros2:rclcpp_subscription_callback_added',
],
nodes=['test_subscription']
)
def test_creation(self):
pass
def test_all(self):
# Check events order as set (e.g. sub_init before callback_added)
self.assertEventsOrderSet(self._events_ros)
# Check fields
sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init')
for event in sub_init_events:
self.assertValidHandle(
event,
['subscription_handle', 'node_handle', 'rmw_subscription_handle'])
self.assertValidQueueDepth(event, 'queue_depth')
self.assertStringFieldNotEmpty(event, 'topic_name')
callback_added_events = self.get_events_with_name('ros2:rclcpp_subscription_callback_added')
for event in callback_added_events:
self.assertValidHandle(event, ['subscription_handle', 'callback'])
# Check that the test topic name exists
test_sub_init_events = self.get_events_with_field_value(
'topic_name',
'/the_topic',
sub_init_events)
self.assertEqual(len(test_sub_init_events), 1, 'cannot find test topic name')
test_sub_init_event = test_sub_init_events[0]
# 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(
'test_subscription',
node_init_events)
self.assertEqual(
len(test_sub_node_init_events),
1,
'none or more than 1 node_init event')
test_sub_node_init_event = test_sub_node_init_events[0]
self.assertMatchingField(
test_sub_node_init_event,
'node_handle',
'ros2:rcl_subscription_init',
sub_init_events)
# Check that subscription handle matches with callback_added event
self.assertMatchingField(
test_sub_init_event,
'subscription_handle',
None,
callback_added_events)
if __name__ == '__main__':

38
tracetools_test/test/test_subscription_callback.py
View file

@ -30,8 +30,42 @@ class TestSubscriptionCallback(TraceTestCase):
nodes=['test_ping', 'test_pong']
)
def test_callback(self):
pass
def test_all(self):
# Check events order as set (e.g. start before end)
self.assertEventsOrderSet(self._events_ros)
# Check fields
start_events = self.get_events_with_name('ros2:callback_start')
for event in start_events:
self.assertValidHandle(event, 'callback')
is_intra_process_value = self.get_field(event, 'is_intra_process')
self.assertIsInstance(is_intra_process_value, int, 'is_intra_process not int')
self.assertTrue(
is_intra_process_value in [0, 1],
f'invalid value for is_intra_process: {is_intra_process_value}')
end_events = self.get_events_with_name('ros2:callback_end')
for event in end_events:
self.assertValidHandle(event, 'callback')
# Check that a start:end pair has a common callback handle
# Note: might be unstable if tracing is disabled too early
ping_events = self.get_events_with_procname('test_ping')
pong_events = self.get_events_with_procname('test_pong')
ping_events_start = self.get_events_with_name('ros2:callback_start', ping_events)
pong_events_start = self.get_events_with_name('ros2:callback_start', pong_events)
for ping_start in ping_events_start:
self.assertMatchingField(
ping_start,
'callback',
'ros2:callback_end',
ping_events)
for pong_start in pong_events_start:
self.assertMatchingField(
pong_start,
'callback',
'ros2:callback_end',
pong_events)
if __name__ == '__main__':

53
tracetools_test/test/test_timer.py
View file

@ -33,7 +33,58 @@ class TestTimer(TraceTestCase):
)
def test_all(self):
pass
# Check events order as set (e.g. init, callback added, start, end)
self.assertEventsOrderSet(self._events_ros)
# Check fields
init_events = self.get_events_with_name('ros2:rcl_timer_init')
for event in init_events:
self.assertValidHandle(event, 'timer_handle')
period_value = self.get_field(event, 'period')
self.assertIsInstance(period_value, int)
self.assertGreaterEqual(period_value, 0, f'invalid period value: {period_value}')
callback_added_events = self.get_events_with_name('ros2:rclcpp_timer_callback_added')
for event in callback_added_events:
self.assertValidHandle(event, ['timer_handle', 'callback'])
start_events = self.get_events_with_name('ros2:callback_start')
for event in start_events:
self.assertValidHandle(event, 'callback')
is_intra_process_value = self.get_field(event, 'is_intra_process')
self.assertIsInstance(is_intra_process_value, int, 'is_intra_process not int')
# Should not be 1 for timer
self.assertEqual(
is_intra_process_value,
0,
f'invalid value for is_intra_process: {is_intra_process_value}')
end_events = self.get_events_with_name('ros2:callback_end')
for event in end_events:
self.assertValidHandle(event, 'callback')
# Find and check given timer period
test_timer_init_event = self.get_events_with_procname('test_timer', init_events)
self.assertEqual(len(test_timer_init_event), 1)
test_init_event = test_timer_init_event[0]
test_period = self.get_field(test_init_event, 'period')
self.assertIsInstance(test_period, int)
self.assertEqual(test_period, 1000000, f'invalid period: {test_period}')
# Check that the timer_init:callback_added pair exists and has a common timer handle
self.assertMatchingField(
test_init_event,
'timer_handle',
'ros2:rclcpp_timer_callback_added',
callback_added_events)
# Check that a callback start:end pair has a common callback handle
for start_event in start_events:
self.assertMatchingField(
start_event,
'callback',
None,
end_events)
if __name__ == '__main__':