80 lines
2.9 KiB
Python
80 lines
2.9 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 TestPublisher(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-publisher-creation',
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events_ros=[
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'ros2:rcl_node_init',
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'ros2:rcl_publisher_init',
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],
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nodes=['test_publisher']
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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 fields
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pub_init_events = self.get_events_with_name('ros2:rcl_publisher_init')
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for event in pub_init_events:
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self.assertValidHandle(
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event,
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['publisher_handle', 'node_handle', 'rmw_publisher_handle'])
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self.assertValidQueueDepth(event, 'queue_depth')
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self.assertStringFieldNotEmpty(event, 'topic_name')
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# Check that the test topic name exists
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test_pub_init_events = self.get_events_with_procname('test_publisher', pub_init_events)
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test_pub_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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test_pub_init_events)
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self.assertEqual(
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len(test_pub_init_topic_events),
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1,
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'none or more than 1 pub_init even for test topic')
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# Check queue_depth value
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test_pub_init_topic_event = test_pub_init_topic_events[0]
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test_queue_depth = self.get_field(test_pub_init_topic_event, 'queue_depth')
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self.assertEqual(
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test_queue_depth,
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10,
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'pub_init event does not have expected queue depth value')
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# Check that the node handle matches with the node_init event
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node_init_events = self.get_events_with_name('ros2:rcl_node_init')
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test_pub_node_init_events = self.get_events_with_procname(
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'test_publisher',
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node_init_events)
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self.assertEqual(len(test_pub_node_init_events), 1, 'none or more than 1 node_init event')
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test_pub_node_init_event = test_pub_node_init_events[0]
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self.assertMatchingField(
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test_pub_node_init_event,
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'node_handle',
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None,
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test_pub_init_events)
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if __name__ == '__main__':
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unittest.main()
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