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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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2
tracetools_test/src/test_service.cpp
View file

@ -24,7 +24,7 @@ public:
: Node("test_service", options)
{
srv_ = this->create_service<std_srvs::srv::Empty>(
"service",
"the_service",
std::bind(
&ServiceNode::service_callback,
this,

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__':

149
tracetools_test/tracetools_test/case.py
View file

@ -18,6 +18,7 @@ import time
from typing import Any
from typing import Dict
from typing import List
from typing import Union
import unittest
# from .utils import cleanup_trace
@ -26,6 +27,7 @@ from .utils import get_event_name
from .utils import get_event_names
from .utils import get_event_timestamp
from .utils import get_field
from .utils import get_procname
from .utils import get_trace_events
from .utils import run_and_trace
@ -113,21 +115,30 @@ class TraceTestCase(unittest.TestCase):
:param names: the node names to look for
"""
procnames = [e['procname'] for e in self._events]
procnames = [get_procname(e) for e in self._events]
for name in names:
# Procnames have a max length of 15
name_trimmed = name[:15]
self.assertTrue(name_trimmed in procnames, 'node name not found in tracepoints')
def assertValidHandle(self, event: DictEvent, handle_field_name: str):
def assertValidHandle(self, event: DictEvent, handle_field_name: Union[str, List[str]]):
"""
Check that the handle associated to a field name is valid.
Check that the handle associated with a field name is valid.
:param event: the event which has a handle field
:param handle_field_name: the field name of the handle to check
:param handle_field_name: the field name(s) of the handle to check
"""
handle_field = self.get_field(event, handle_field_name)
self.assertGreater(handle_field, 0, f'invalid handle: {handle_field_name}')
is_list = isinstance(handle_field_name, list)
handle_field_names = handle_field_name if is_list else [handle_field_name]
for field_name in handle_field_names:
handle_value = self.get_field(event, field_name)
self.assertIsInstance(handle_value, int, 'handle value not int')
self.assertGreater(handle_value, 0, f'invalid handle value: {field_name}')
def assertValidQueueDepth(self, event: DictEvent, queue_depth_field_name: str = 'queue_depth'):
queue_depth_value = self.get_field(event, 'queue_depth')
self.assertIsInstance(queue_depth_value, int, 'invalid queue depth type')
self.assertGreater(queue_depth_value, 0, 'invalid queue depth')
def assertStringFieldNotEmpty(self, event: DictEvent, string_field_name: str):
"""
@ -142,6 +153,67 @@ class TraceTestCase(unittest.TestCase):
def assertEventAfterTimestamp(self, event: DictEvent, timestamp: int):
self.assertGreater(get_event_timestamp(event), timestamp, 'event not after timestamp')
def assertEventOrder(self, first_event: DictEvent, second_event: DictEvent):
"""
Check that the first event was generated before the second event.
:param first_event: the first event
:param second_event: the second event
"""
self.assertTrue(self.are_events_ordered(first_event, second_event))
def assertMatchingField(
self,
initial_event: DictEvent,
field_name: str,
matching_event_name: str = None,
events: List[DictEvent] = None
):
"""
Check that the value of a field for a given event has a matching event that follows.
:param initial_event: the first event, which is the origin of the common field value
:param field_name: the name of the common field to check
:param matching_event_name: the name of the event to check (or None to check all)
:param events: the events to check (or None to check all in trace)
"""
if events is None:
events = self._events
if matching_event_name is not None:
events = self.get_events_with_name(matching_event_name, events)
field_value = self.get_field(initial_event, field_name)
# Get events with that handle
matches = self.get_events_with_field_value(
field_name,
field_value,
events)
# Check that there is at least one
self.assertGreaterEqual(
len(matches),
1,
f'no corresponding {field_name}')
# Check order
# Since matching pairs might repeat, we need to check
# that there is at least one match that comes after
matches_ordered = [e for e in matches if self.are_events_ordered(initial_event, e)]
self.assertGreaterEqual(
len(matches_ordered),
1,
'matching field event not after initial event')
def assertFieldEquals(self, event: DictEvent, field_name: str, value: Any):
"""
Check the value of a field.
:param event: the event
:param field_name: the name of the field to check
:param value: to value to compare the field value to
"""
actual_value = self.get_field(event, field_name)
self.assertEqual(actual_value, value, 'invalid field value')
def get_field(self, event: DictEvent, field_name: str) -> Any:
"""
Get field value; will fail test if not found.
@ -158,11 +230,72 @@ class TraceTestCase(unittest.TestCase):
else:
return value
def get_events_with_name(self, event_name: str) -> List[DictEvent]:
def get_procname(self, event: DictEvent) -> str:
"""
Get procname.
:param event: the event
:return: the procname of the event
"""
return get_procname(event)
def get_events_with_name(
self,
event_name: str,
events: List[DictEvent] = None
) -> List[DictEvent]:
"""
Get all events with the given name.
:param event_name: the event name
:param events: the events to check (or None to check all events)
:return: the list of events with the given name
"""
return [e for e in self._events if get_event_name(e) == event_name]
if events is None:
events = self._events
return [e for e in events if get_event_name(e) == event_name]
def get_events_with_procname(
self,
procname: str,
events: List[DictEvent] = None
) -> List[DictEvent]:
"""
Get all events with the given procname.
:param procname: the procname
:param events: the events to check (or None to check all events)
:return: the events with the given procname
"""
if events is None:
events = self._events
return [e for e in events if self.get_procname(e) == procname[:15]]
def get_events_with_field_value(
self,
field_name: str,
field_value: Any,
events: List[DictEvent] = None
) -> List[DictEvent]:
"""
Get all events with the given field:value
:param field_name: the name of the field to check
:param field_value: the value of the field to check
:param events: the events to check (or None to check all events)
:return: the events with the given field:value pair
"""
if events is None:
events = self._events
return [e for e in events if get_field(e, field_name, None) == field_value]
def are_events_ordered(self, first_event: DictEvent, second_event: DictEvent):
"""
Check that the first event was generated before the second event.
:param first_event: the first event
:param second_event: the second event
"""
first_timestamp = get_event_timestamp(first_event)
second_timestamp = get_event_timestamp(second_event)
return first_timestamp < second_timestamp

6
tracetools_test/tracetools_test/utils.py
View file

@ -143,8 +143,14 @@ def get_field(event: DictEvent, field_name: str, default=None, raise_if_not_foun
raise AttributeError(f'event field "{field_name}" not found!')
return field_value
def get_event_name(event: DictEvent) -> str:
return event['_name']
def get_event_timestamp(event: DictEvent) -> int:
return event['_timestamp']
def get_procname(event: DictEvent) -> str:
return event['procname']