Skip to content

Commit

Permalink
Fix pub/sub count API tests. (#1203)
Browse files Browse the repository at this point in the history 
Signed-off-by: Michel Hidalgo <[email protected]>
  • Loading branch information
@hidmic
hidmic authored Jun 26, 2020
1 parent c23572f commit a9d5a3f
Show file tree
Hide file tree
Showing 2 changed files with 266 additions and 160 deletions.
265 changes: 166 additions & 99 deletions rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,27 +24,92 @@

#include "test_msgs/msg/empty.hpp"

using test_msgs::msg::Empty;
namespace
{

/**
* Parameterized test.
* The first param are the NodeOptions used to create the nodes.
* The second param are the expect intraprocess count results.
*/
struct TestParameters

template<typename ... Ts>
class NodeCreationPolicy
{
rclcpp::NodeOptions node_options[2];
uint64_t intraprocess_count_results[2];
std::string description;
public:
rclcpp::NodeOptions & node_options()
{
return options_;
}

private:
rclcpp::NodeOptions options_;
};

std::ostream & operator<<(std::ostream & out, const TestParameters & params)
template<typename T, typename ... Ts>
class NodeCreationPolicy<T, Ts...>
{
out << params.description;
return out;
}
public:
NodeCreationPolicy()
{
gather<T, Ts...>(options_);
}

rclcpp::NodeOptions & node_options()
{
return options_;
}

private:
template<typename U>
static rclcpp::NodeOptions &
gather(rclcpp::NodeOptions & options)
{
return U::gather(options);
}

template<typename U, typename V, typename ... Ws>
static rclcpp::NodeOptions &
gather(rclcpp::NodeOptions & options)
{
return gather<V, Ws...>(U::gather(options));
}

rclcpp::NodeOptions options_;
};

template<bool value>
struct ShouldUseIntraprocess
{
static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
{
return options.use_intra_process_comms(value);
}
};

using UseIntraprocess = ShouldUseIntraprocess<true>;
using DoNotUseIntraprocess = ShouldUseIntraprocess<false>;

struct UseCustomContext
{
static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
{
auto context = rclcpp::Context::make_shared();
context->init(0, nullptr);
return options.context(context);
}
};

class TestPublisherSubscriptionCount : public ::testing::TestWithParam<TestParameters>
struct PrintTestDescription
{
template<typename T>
static std::string GetName(int i)
{
static_cast<void>(i);
return T::description;
}
};

} // namespace


template<typename TestDescription>
class TestPublisherSubscriptionCount : public ::testing::Test
{
public:
static void SetUpTestCase()
Expand All @@ -57,126 +122,128 @@ class TestPublisherSubscriptionCount : public ::testing::TestWithParam<TestParam
}

protected:
void SetUp() {}
static void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
{
(void)msg;
}

std::chrono::milliseconds offset{2000};
};

void TearDown() {}
/* Testing publisher subscription count api and internal process subscription count.
* Two subscriptions in the same topic, both using intraprocess comm.
*/
struct TwoSubscriptionsIntraprocessComm
{
static constexpr const char * description =
"two_subscriptions_intraprocess_comm";
using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
using SecondNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;

static std::chrono::milliseconds offset;
static constexpr bool first_node_talks_intraprocess{true};
static constexpr bool both_nodes_talk_intraprocess{true};
};

std::chrono::milliseconds TestPublisherSubscriptionCount::offset = std::chrono::milliseconds(2000);
/* Testing publisher subscription count api and internal process subscription count.
* Two subscriptions, one using intra-process comm and the other not using it.
*/
struct TwoSubscriptionsOneIntraprocessOneNot
{
static constexpr const char * description =
"two_subscriptions_one_intraprocess_one_not";
using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
using SecondNodeCreationPolicy = NodeCreationPolicy<>;

static constexpr bool first_node_talks_intraprocess{true};
static constexpr bool both_nodes_talk_intraprocess{false};
};

void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
/* Testing publisher subscription count api and internal process subscription count.
* Two contexts, both using intra-process.
*/
struct TwoSubscriptionsInTwoContextsWithIntraprocessComm
{
(void)msg;
}
static constexpr const char * description =
"two_subscriptions_in_two_contexts_with_intraprocess_comm";
using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
using SecondNodeCreationPolicy = NodeCreationPolicy<UseCustomContext, UseIntraprocess>;

static constexpr bool first_node_talks_intraprocess{true};
static constexpr bool both_nodes_talk_intraprocess{false};
};

TEST_P(TestPublisherSubscriptionCount, increasing_and_decreasing_counts)
/* Testing publisher subscription count api and internal process subscription count.
* Two contexts, both of them not using intra-process comm.
*/
struct TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
{
TestParameters parameters = GetParam();
static constexpr const char * description =
"two_subscriptions_in_two_contexts_without_intraprocess_comm";
using FirstNodeCreationPolicy = NodeCreationPolicy<>;
using SecondNodeCreationPolicy = NodeCreationPolicy<UseCustomContext>;

static constexpr bool first_node_talks_intraprocess{false};
static constexpr bool both_nodes_talk_intraprocess{false};
};

using AllTestDescriptions = ::testing::Types<
TwoSubscriptionsIntraprocessComm,
TwoSubscriptionsOneIntraprocessOneNot,
TwoSubscriptionsInTwoContextsWithIntraprocessComm,
TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
>;
TYPED_TEST_CASE(TestPublisherSubscriptionCount, AllTestDescriptions, PrintTestDescription);


using test_msgs::msg::Empty;

TYPED_TEST(TestPublisherSubscriptionCount, increasing_and_decreasing_counts)
{
using TestDescription = TypeParam;
typename TestDescription::FirstNodeCreationPolicy my_node_creation_policy;
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
"my_node",
"/ns",
parameters.node_options[0]);
my_node_creation_policy.node_options());
auto publisher = node->create_publisher<Empty>("/topic", 10);

EXPECT_EQ(publisher->get_subscription_count(), 0u);
EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
{
auto sub = node->create_subscription<Empty>("/topic", 10, &OnMessage);
rclcpp::sleep_for(offset);
auto sub = node->create_subscription<Empty>(
"/topic", 10, &TestPublisherSubscriptionCount<TestDescription>::OnMessage);
rclcpp::sleep_for(this->offset);
EXPECT_EQ(publisher->get_subscription_count(), 1u);
EXPECT_EQ(
publisher->get_intra_process_subscription_count(),
parameters.intraprocess_count_results[0]);
(TestDescription::first_node_talks_intraprocess ? 1u : 0u));
{
typename TestDescription::SecondNodeCreationPolicy another_node_creation_policy;
rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
"another_node",
"/ns",
parameters.node_options[1]);
auto another_sub =
another_node->create_subscription<Empty>("/topic", 10, &OnMessage);
another_node_creation_policy.node_options());
auto another_sub = another_node->create_subscription<Empty>(
"/topic", 10, &TestPublisherSubscriptionCount<TestDescription>::OnMessage);

rclcpp::sleep_for(offset);
rclcpp::sleep_for(this->offset);
EXPECT_EQ(publisher->get_subscription_count(), 2u);
EXPECT_EQ(
publisher->get_intra_process_subscription_count(),
parameters.intraprocess_count_results[1]);
(TestDescription::first_node_talks_intraprocess ? 1u : 0u) +
(TestDescription::both_nodes_talk_intraprocess ? 1u : 0u));
}
rclcpp::sleep_for(offset);
rclcpp::sleep_for(this->offset);
EXPECT_EQ(publisher->get_subscription_count(), 1u);
EXPECT_EQ(
publisher->get_intra_process_subscription_count(),
parameters.intraprocess_count_results[0]);
(TestDescription::first_node_talks_intraprocess ? 1u : 0u));
}
/**
* Counts should be zero here, as all are subscriptions are out of scope.
* Subscriptions count checking is always preceeded with an sleep, as random failures had been
* detected without it. */
rclcpp::sleep_for(offset);
rclcpp::sleep_for(this->offset);
EXPECT_EQ(publisher->get_subscription_count(), 0u);
EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
}

auto get_new_context()
{
auto context = rclcpp::Context::make_shared();
context->init(0, nullptr);
return context;
}

TestParameters parameters[] = {
/*
Testing publisher subscription count api and internal process subscription count.
Two subscriptions in the same topic, both using intraprocess comm.
*/
{
{
rclcpp::NodeOptions().use_intra_process_comms(true),
rclcpp::NodeOptions().use_intra_process_comms(true)
},
{1u, 2u},
"two_subscriptions_intraprocess_comm"
},
/*
Testing publisher subscription count api and internal process subscription count.
Two subscriptions, one using intra-process comm and the other not using it.
*/
{
{
rclcpp::NodeOptions().use_intra_process_comms(true),
rclcpp::NodeOptions().use_intra_process_comms(false)
},
{1u, 1u},
"two_subscriptions_one_intraprocess_one_not"
},
/*
Testing publisher subscription count api and internal process subscription count.
Two contexts, both using intra-process.
*/
{
{
rclcpp::NodeOptions().use_intra_process_comms(true),
rclcpp::NodeOptions().context(get_new_context()).use_intra_process_comms(true)
},
{1u, 1u},
"two_subscriptions_in_two_contexts_with_intraprocess_comm"
},
/*
Testing publisher subscription count api and internal process subscription count.
Two contexts, both of them not using intra-process comm.
*/
{
{
rclcpp::NodeOptions().use_intra_process_comms(false),
rclcpp::NodeOptions().context(get_new_context()).use_intra_process_comms(false)
},
{0u, 0u},
"two_subscriptions_in_two_contexts_without_intraprocess_comm"
}
};

INSTANTIATE_TEST_CASE_P(
TestWithDifferentNodeOptions, TestPublisherSubscriptionCount,
::testing::ValuesIn(parameters),
::testing::PrintToStringParamName());
Loading

0 comments on commit a9d5a3f

Please sign in to comment.