189 lines
7.3 KiB
Python
189 lines
7.3 KiB
Python
# Copyright 2019 Robert Bosch GmbH
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# Copyright 2019 Apex.AI, Inc.
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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 TestSubscription(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-subscription',
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events_ros=[
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'ros2:rcl_node_init',
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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_ping', 'test_pong'],
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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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# Check fields
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rcl_sub_init_events = self.get_events_with_name('ros2:rcl_subscription_init')
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rclcpp_sub_init_events = self.get_events_with_name('ros2:rclcpp_subscription_init')
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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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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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for event in rcl_sub_init_events:
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self.assertValidHandle(
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event,
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['subscription_handle', 'node_handle', 'rmw_subscription_handle'],
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)
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self.assertValidQueueDepth(event, 'queue_depth')
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self.assertStringFieldNotEmpty(event, 'topic_name')
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for event in rclcpp_sub_init_events:
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self.assertValidHandle(
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event,
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['subscription_handle', 'subscription'],
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)
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for event in callback_added_events:
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self.assertValidHandle(event, ['subscription', 'callback'])
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for event in start_events:
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self.assertValidHandle(event, 'callback')
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is_intra_process_value = self.get_field(event, 'is_intra_process')
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self.assertIsInstance(is_intra_process_value, int, 'is_intra_process not int')
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self.assertTrue(
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is_intra_process_value in [0, 1],
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f'invalid value for is_intra_process: {is_intra_process_value}',
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)
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for event in end_events:
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self.assertValidHandle(event, 'callback')
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# Check that the pong test topic name exists
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# Note: using the ping node
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test_rcl_sub_init_events = self.get_events_with_field_value(
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'topic_name',
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'/pong',
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rcl_sub_init_events,
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)
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self.assertNumEventsEqual(test_rcl_sub_init_events, 1, 'cannot find test topic name')
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test_rcl_sub_init_event = test_rcl_sub_init_events[0]
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# Check queue_depth value
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self.assertFieldEquals(
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test_rcl_sub_init_event,
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'queue_depth',
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10,
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'sub_init event does not have expected queue depth value',
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)
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# Check that the node handle matches 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_sub_node_init_events = self.get_events_with_procname(
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'test_ping',
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node_init_events,
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)
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self.assertNumEventsEqual(
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test_sub_node_init_events,
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1,
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'none or more than 1 node_init event',
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)
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test_sub_node_init_event = test_sub_node_init_events[0]
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self.assertMatchingField(
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test_sub_node_init_event,
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'node_handle',
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'ros2:rcl_subscription_init',
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rcl_sub_init_events,
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)
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# Check that subscription handle matches between rcl_sub_init and rclcpp_sub_init
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subscription_handle = self.get_field(test_rcl_sub_init_event, 'subscription_handle')
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rclcpp_sub_init_matching_events = self.get_events_with_field_value(
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'subscription_handle',
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subscription_handle,
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rclcpp_sub_init_events,
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)
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# Should only have 1 rclcpp_sub_init event, since intra-process is not enabled
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self.assertNumEventsEqual(
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rclcpp_sub_init_matching_events,
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1,
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'none or more than 1 rclcpp_sub_init event for topic',
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)
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# Check that subscription pointer matches between rclcpp_sub_init and sub_callback_added
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rclcpp_sub_init_matching_event = rclcpp_sub_init_matching_events[0]
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subscription_pointer = self.get_field(rclcpp_sub_init_matching_event, 'subscription')
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callback_added_matching_events = self.get_events_with_field_value(
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'subscription',
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subscription_pointer,
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callback_added_events,
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)
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self.assertNumEventsEqual(
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callback_added_matching_events,
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1,
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'none or more than 1 rclcpp_sub_callback_added event for topic',
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)
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# Check that each start:end pair has a common callback handle
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ping_events = self.get_events_with_procname('test_ping')
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pong_events = self.get_events_with_procname('test_pong')
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ping_events_start = self.get_events_with_name('ros2:callback_start', ping_events)
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pong_events_start = self.get_events_with_name('ros2:callback_start', pong_events)
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for ping_start in ping_events_start:
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self.assertMatchingField(
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ping_start,
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'callback',
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'ros2:callback_end',
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ping_events,
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)
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for pong_start in pong_events_start:
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self.assertMatchingField(
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pong_start,
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'callback',
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'ros2:callback_end',
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pong_events,
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)
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# Check that callback pointer matches between sub_callback_added and callback_start/end
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# There is only one callback for /pong topic in ping node
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callback_added_matching_event = callback_added_matching_events[0]
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callback_pointer = self.get_field(callback_added_matching_event, 'callback')
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callback_start_matching_events = self.get_events_with_field_value(
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'callback',
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callback_pointer,
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ping_events_start,
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)
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self.assertNumEventsEqual(
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callback_start_matching_events,
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1,
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'none or more than 1 callback_start event for topic callback',
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)
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ping_events_end = self.get_events_with_name('ros2:callback_end', ping_events)
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callback_end_matching_events = self.get_events_with_field_value(
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'callback',
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callback_pointer,
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ping_events_end,
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)
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self.assertNumEventsEqual(
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callback_end_matching_events,
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1,
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'none or more than 1 callback_end event for topic callback',
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)
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if __name__ == '__main__':
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unittest.main()
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