147 lines
5.2 KiB
Python
147 lines
5.2 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_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 as set
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self.assertEventsSet(self._events_ros)
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print('EVENTS: ', self._events)
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# Check rcl_subscription_init events
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rcl_sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init')
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rcl_sub_init_topic_events = self.get_events_with_field_value(
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'topic_name',
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'/the_topic',
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rcl_sub_init_events,
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)
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# Only 1 for our given topic
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self.assertNumEventsEqual(
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rcl_sub_init_topic_events,
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1,
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'none or more than 1 rcl_sub_init event for the topic',
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)
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# Get subscription handle
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rcl_sub_init_topic_event = rcl_sub_init_topic_events[0]
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sub_handle_intra = self.get_field(rcl_sub_init_topic_event, 'subscription_handle')
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# Check rclcpp_subscription_init events
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rclcpp_sub_init_events = self.get_events_with_name('ros2:rclcpp_subscription_init')
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rclcpp_sub_init_topic_events = self.get_events_with_field_value(
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'subscription_handle',
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sub_handle_intra,
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rclcpp_sub_init_events,
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)
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# Should have 2 events for the given subscription handle
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# (Subscription and SubscriptionIntraProcess)
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self.assertNumEventsEqual(
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rclcpp_sub_init_topic_events,
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2,
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'number of rclcpp_sub_init events for the topic not equal to 2',
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)
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# Get the 2 subscription pointers
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events = rclcpp_sub_init_topic_events
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subscription_pointers = [self.get_field(e, 'subscription') for e in events]
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# Get the corresponding callback pointers
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rclcpp_sub_callback_added_events = self.get_events_with_name(
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'ros2:rclcpp_subscription_callback_added',
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)
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rclcpp_sub_callback_added_topic_events = self.get_events_with_field_value(
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'subscription',
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subscription_pointers,
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rclcpp_sub_callback_added_events,
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)
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events = rclcpp_sub_callback_added_topic_events
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callback_pointers = [self.get_field(e, 'callback') for e in events]
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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 have at least one start:end pair
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self.assertNumEventsGreaterEqual(
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start_events,
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1,
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'does not have at least 1 callback start event')
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self.assertNumEventsGreaterEqual(
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end_events,
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1,
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'does not have at least 1 callback end event')
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start_events_topic = self.get_events_with_field_value(
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'callback',
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callback_pointers,
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start_events)
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end_events_topic = self.get_events_with_field_value(
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'callback',
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callback_pointers,
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end_events)
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self.assertNumEventsGreaterEqual(
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start_events_topic,
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1,
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'no callback_start event found for topic')
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self.assertNumEventsGreaterEqual(
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end_events_topic,
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1,
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'no callback_end found event for topic')
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# Check for is_intra_process field value of 1/true
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start_events_intra = self.get_events_with_field_value(
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'is_intra_process',
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1,
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start_events_topic,
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)
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# Should have one event
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self.assertNumEventsEqual(
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start_events_intra,
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1,
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'none or more than 1 callback_start event for intra-process topic',
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)
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# As a sanity check, make sure its callback pointer has a corresponding callback_end event
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callback_pointer_intra = self.get_field(start_events_intra[0], 'callback')
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end_events_intra = self.get_events_with_field_value(
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'callback',
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callback_pointer_intra,
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end_events_topic,
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)
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self.assertNumEventsEqual(
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end_events_intra,
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1,
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'none or more than 1 callback_end event for intra-process topic',
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)
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if __name__ == '__main__':
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unittest.main()
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