127 lines
4.6 KiB
Python
127 lines
4.6 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 TestSubscription(TraceTestCase):
|
|
|
|
def __init__(self, *args) -> None:
|
|
super().__init__(
|
|
*args,
|
|
session_name_prefix='session-test-subscription-creation',
|
|
events_ros=[
|
|
'ros2:rcl_node_init',
|
|
'ros2:rcl_subscription_init',
|
|
'ros2:rclcpp_subscription_init',
|
|
'ros2:rclcpp_subscription_callback_added',
|
|
],
|
|
nodes=['test_subscription'],
|
|
)
|
|
|
|
def test_all(self):
|
|
# Check events as set
|
|
self.assertEventsSet(self._events_ros)
|
|
|
|
# Check fields
|
|
rcl_sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init')
|
|
rclcpp_sub_init_events = self.get_events_with_name('ros2:rclcpp_subscription_init')
|
|
callback_added_events = self.get_events_with_name(
|
|
'ros2:rclcpp_subscription_callback_added',
|
|
)
|
|
|
|
for event in rcl_sub_init_events:
|
|
self.assertValidHandle(
|
|
event,
|
|
['subscription_handle', 'node_handle', 'rmw_subscription_handle'],
|
|
)
|
|
self.assertValidQueueDepth(event, 'queue_depth')
|
|
self.assertStringFieldNotEmpty(event, 'topic_name')
|
|
for event in rclcpp_sub_init_events:
|
|
self.assertValidHandle(
|
|
event,
|
|
['subscription_handle', 'subscription'],
|
|
)
|
|
for event in callback_added_events:
|
|
self.assertValidHandle(event, ['subscription', 'callback'])
|
|
|
|
# Check that the test topic name exists
|
|
test_rcl_sub_init_events = self.get_events_with_field_value(
|
|
'topic_name',
|
|
'/the_topic',
|
|
rcl_sub_init_events,
|
|
)
|
|
self.assertNumEventsEqual(test_rcl_sub_init_events, 1, 'cannot find test topic name')
|
|
test_rcl_sub_init_event = test_rcl_sub_init_events[0]
|
|
|
|
# Check queue_depth value
|
|
self.assertFieldEquals(
|
|
test_rcl_sub_init_event,
|
|
'queue_depth',
|
|
10,
|
|
'sub_init event does not have expected queue depth value',
|
|
)
|
|
|
|
# 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.assertNumEventsEqual(
|
|
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',
|
|
rcl_sub_init_events,
|
|
)
|
|
|
|
# Check that subscription handle matches between rcl_sub_init and rclcpp_sub_init
|
|
subscription_handle = self.get_field(test_rcl_sub_init_event, 'subscription_handle')
|
|
rclcpp_sub_init_matching_events = self.get_events_with_field_value(
|
|
'subscription_handle',
|
|
subscription_handle,
|
|
rclcpp_sub_init_events,
|
|
)
|
|
# Should only have 1 rclcpp_sub_init event, since intra-process is not enabled
|
|
self.assertNumEventsEqual(
|
|
rclcpp_sub_init_matching_events,
|
|
1,
|
|
'none or more than 1 rclcpp_sub_init event for topic',
|
|
)
|
|
|
|
# Check that subscription pointer matches between rclcpp_sub_init and sub_callback_added
|
|
rclcpp_sub_init_matching_event = rclcpp_sub_init_matching_events[0]
|
|
subscription_pointer = self.get_field(rclcpp_sub_init_matching_event, 'subscription')
|
|
callback_added_matching_events = self.get_events_with_field_value(
|
|
'subscription',
|
|
subscription_pointer,
|
|
callback_added_events,
|
|
)
|
|
self.assertNumEventsEqual(
|
|
callback_added_matching_events,
|
|
1,
|
|
'none or more than 1 rclcpp_sub_callback_added event for topic',
|
|
)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
unittest.main()
|