79 lines
2.9 KiB
Python
79 lines
2.9 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 TestPublisher(TraceTestCase):
|
|
def __init__(self, *args) -> None:
|
|
super().__init__(
|
|
*args,
|
|
session_name_prefix='session-test-publisher-creation',
|
|
events_ros=[
|
|
'ros2:rcl_node_init',
|
|
'ros2:rcl_publisher_init',
|
|
],
|
|
nodes=['test_publisher']
|
|
)
|
|
|
|
def test_all(self):
|
|
# Check events order as set (e.g. node_init before pub_init)
|
|
self.assertEventsOrderSet(self._events_ros)
|
|
|
|
# Check fields
|
|
pub_init_events = self.get_events_with_name('ros2:rcl_publisher_init')
|
|
for event in pub_init_events:
|
|
self.assertValidHandle(
|
|
event,
|
|
['publisher_handle', 'node_handle', 'rmw_publisher_handle'])
|
|
self.assertValidQueueDepth(event, 'queue_depth')
|
|
self.assertStringFieldNotEmpty(event, 'topic_name')
|
|
|
|
# Check that the test topic name exists
|
|
test_pub_init_events = self.get_events_with_procname('test_publisher', pub_init_events)
|
|
test_pub_init_topic_events = self.get_events_with_field_value(
|
|
'topic_name',
|
|
'/the_topic',
|
|
test_pub_init_events)
|
|
self.assertNumEvents(
|
|
test_pub_init_topic_events,
|
|
1,
|
|
'none or more than 1 pub_init even for test topic')
|
|
|
|
# Check queue_depth value
|
|
test_pub_init_topic_event = test_pub_init_topic_events[0]
|
|
self.assertFieldEquals(
|
|
test_pub_init_topic_event,
|
|
'queue_depth',
|
|
10,
|
|
'pub_init event does not have expected queue depth value')
|
|
|
|
# Check that the node handle matches with the node_init event
|
|
node_init_events = self.get_events_with_name('ros2:rcl_node_init')
|
|
test_pub_node_init_events = self.get_events_with_procname(
|
|
'test_publisher',
|
|
node_init_events)
|
|
self.assertNumEvents(test_pub_node_init_events, 1, 'none or more than 1 node_init event')
|
|
test_pub_node_init_event = test_pub_node_init_events[0]
|
|
self.assertMatchingField(
|
|
test_pub_node_init_event,
|
|
'node_handle',
|
|
None,
|
|
test_pub_init_events)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
unittest.main()
|