91 lines
3.2 KiB
Python
91 lines
3.2 KiB
Python
# Copyright 2019 Robert Bosch GmbH
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
import unittest
|
|
|
|
from tracetools_test.case import TraceTestCase
|
|
|
|
|
|
class TestTimer(TraceTestCase):
|
|
|
|
def __init__(self, *args) -> None:
|
|
super().__init__(
|
|
*args,
|
|
session_name_prefix='session-test-timer-all',
|
|
events_ros=[
|
|
'ros2:rcl_timer_init',
|
|
'ros2:rclcpp_timer_callback_added',
|
|
'ros2:callback_start',
|
|
'ros2:callback_end',
|
|
],
|
|
nodes=['test_timer'],
|
|
)
|
|
|
|
def test_all(self):
|
|
# Check events as set
|
|
self.assertEventsSet(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')
|
|
# Should not be 1 for timer
|
|
self.assertFieldEquals(
|
|
event,
|
|
'is_intra_process',
|
|
0,
|
|
'invalid value for is_intra_process',
|
|
)
|
|
|
|
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.assertNumEventsEqual(test_timer_init_event, 1, 'none or more test timer init events')
|
|
test_init_event = test_timer_init_event[0]
|
|
self.assertFieldEquals(test_init_event, 'period', 1000000, 'invalid 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__':
|
|
unittest.main()
|