127 lines
4.8 KiB
Python
127 lines
4.8 KiB
Python
# Copyright 2019 Robert Bosch GmbH
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import unittest
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from tracetools_test.case import TraceTestCase
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class TestIntra(TraceTestCase):
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def __init__(self, *args) -> None:
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super().__init__(
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*args,
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session_name_prefix='session-test-intra',
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events_ros=[
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'ros2:rcl_subscription_init',
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'ros2:rclcpp_subscription_callback_added',
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'ros2:callback_start',
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'ros2:callback_end',
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],
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nodes=['test_intra']
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)
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def test_all(self):
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# Check events order as set (e.g. node_init before pub_init)
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self.assertEventsOrderSet(self._events_ros)
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# Check sub_init for normal and intraprocess events
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sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init')
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sub_init_normal_events = self.get_events_with_field_value(
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'topic_name',
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'/the_topic',
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sub_init_events)
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sub_init_intra_events = self.get_events_with_field_value(
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'topic_name',
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'/the_topic/_intra',
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sub_init_events)
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self.assertEqual(
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len(sub_init_normal_events),
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1,
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'none or more than 1 sub init event for normal sub')
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self.assertEqual(
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len(sub_init_intra_events),
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1,
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'none or more than 1 sub init event for intra sub')
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# Get subscription handles for normal & intra subscriptions
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sub_init_normal_event = sub_init_normal_events[0]
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# Note: sub handle linked to "normal" topic is the one actually linked to intra callback
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sub_handle_intra = self.get_field(sub_init_normal_event, 'subscription_handle')
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print(f'sub_handle_intra: {sub_handle_intra}')
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# Get corresponding callback handle
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# Callback handle
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callback_added_events = self.get_events_with_field_value(
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'subscription_handle',
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sub_handle_intra,
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self.get_events_with_name(
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'ros2:rclcpp_subscription_callback_added'))
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self.assertEqual(
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len(callback_added_events),
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1,
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'none or more than 1 callback added event')
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callback_added_event = callback_added_events[0]
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callback_handle_intra = self.get_field(callback_added_event, 'callback')
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# Get corresponding callback start/end pairs
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start_events = self.get_events_with_name('ros2:callback_start')
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end_events = self.get_events_with_name('ros2:callback_end')
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# Should still have two start:end pairs (1 normal + 1 intra)
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self.assertEqual(len(start_events), 2, 'does not have 2 callback start events')
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self.assertEqual(len(end_events), 2, 'does not have 2 callback end events')
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start_events_intra = self.get_events_with_field_value(
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'callback',
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callback_handle_intra,
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start_events)
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end_events_intra = self.get_events_with_field_value(
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'callback',
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callback_handle_intra,
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end_events)
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self.assertEqual(
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len(start_events_intra),
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1,
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'none or more than one intra start event')
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self.assertEqual(
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len(end_events_intra),
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1,
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'none or more than one intra end event')
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# Check is_intra_process field value
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start_event_intra = start_events_intra[0]
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is_intra_value_intra = self.get_field(start_event_intra, 'is_intra_process')
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self.assertEqual(
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is_intra_value_intra,
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1,
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'is_intra_process field value not valid for intra callback')
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# Also check that the other callback_start event (normal one) has the right field value
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start_events_not_intra = self.get_events_with_field_not_value(
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'callback',
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callback_handle_intra,
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start_events)
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self.assertEqual(
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len(start_events_not_intra),
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1,
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'none or more than one normal start event')
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start_event_not_intra = start_events_not_intra[0]
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is_intra_value_not_intra = self.get_field(start_event_not_intra, 'is_intra_process')
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self.assertEqual(
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is_intra_value_not_intra,
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0,
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'is_intra_process field value not valid for normal callback')
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if __name__ == '__main__':
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unittest.main()
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