Modifies play_until_is_equal_to_the_total_duration

The test body now evaluates a bag whose duration is exactly the same as given timestamp in PlayOptions. Signed-off-by: Agustin Alba Chicar <[email protected]>
ros2 · Jun 21, 2022 · fa3654f · fa3654f
1 parent 9faf6a9
commit fa3654f
Showing 1 changed file with 34 additions and 12 deletions.
diff --git a/rosbag2_transport/test/rosbag2_transport/test_play_until.cpp b/rosbag2_transport/test/rosbag2_transport/test_play_until.cpp
@@ -358,18 +358,40 @@ TEST_F(RosBag2PlayUntilTestFixture, playback_duration_overrides_play_until)
 
 TEST_F(RosBag2PlayUntilTestFixture, play_until_is_equal_to_the_total_duration)
 {
-  InitPlayerWithPlaybackUntilAndPlay(
-    150 /* playback_until_timestamp_millis */, 1 /* num messages topic 1 */,
-    1 /* num messages topic 2 */, 150 /* playback_duration_millis */);
+  auto primitive_message1 = get_messages_basic_types()[0];
+  auto primitive_message2 = get_messages_basic_types()[0];
+  primitive_message1->int32_value = 1;
+  primitive_message2->int32_value = 2;
 
-  auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::BasicTypes>(
-    kTopic1_);
-  EXPECT_THAT(replayed_test_primitives, SizeIs(Eq(1u)));
-  EVAL_REPLAYED_PRIMITIVES(replayed_test_primitives);
+  auto topic_types = std::vector<rosbag2_storage::TopicMetadata>{
+    {kTopic1Name_, "test_msgs/BasicTypes", "", ""}};
 
-  auto replayed_test_arrays = sub_->get_received_messages<test_msgs::msg::Arrays>(
-    kTopic2_);
-  EXPECT_THAT(replayed_test_arrays, SizeIs(Eq(1u)));
-  EVAL_REPLAYED_BOOL_ARRAY_PRIMITIVES(replayed_test_arrays);
-  EVAL_REPLAYED_FLOAT_ARRAY_PRIMITIVES(replayed_test_arrays);
+  std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages =
+  {
+    serialize_test_message(kTopic1Name_, 10, primitive_message1),
+    serialize_test_message(kTopic1Name_, 50, primitive_message2),
+  };
+
+  auto prepared_mock_reader = std::make_unique<MockSequentialReader>();
+  prepared_mock_reader->prepare(messages, topic_types);
+  auto reader = std::make_unique<rosbag2_cpp::Reader>(std::move(prepared_mock_reader));
+
+  // Expect to receive 1 message from play() and 2 messages from play_next in second round
+  sub_->add_subscription<test_msgs::msg::BasicTypes>(kTopic1_, messages.size());
+  play_options_.playback_until_timestamp = RCL_MS_TO_NS(50);
+
+  std::shared_ptr<MockPlayer> player_ = std::make_shared<MockPlayer>(
+    std::move(reader), storage_options_, play_options_);
+
+  // Wait for discovery to match publishers with subscribers
+  ASSERT_TRUE(sub_->spin_and_wait_for_matched(player_->get_list_of_publishers(), 5s));
+
+  auto await_received_messages = sub_->spin_subscriptions();
+  ASSERT_TRUE(player_->play());
+
+  await_received_messages.get();
+  auto replayed_topic1 = sub_->get_received_messages<test_msgs::msg::BasicTypes>(kTopic1_);
+  EXPECT_THAT(replayed_topic1, SizeIs(messages.size()));
+  EXPECT_EQ(replayed_topic1[0]->int32_value, 1);
+  EXPECT_EQ(replayed_topic1[1]->int32_value, 2);
 }