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Update tests to use new graph API
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We can simplify some tests by reusing the new graph functions.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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@jacobperron
jacobperron committed Apr 1, 2021
1 parent b1dbca9 commit 466ee6e
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Showing 4 changed files with 41 additions and 166 deletions.
115 changes: 31 additions & 84 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -799,13 +799,11 @@ TEST_F(
void
check_graph_state(
const rcl_node_t * node_ptr,
rcl_wait_set_t * wait_set_ptr,
const rcl_guard_condition_t * graph_guard_condition,
std::string & topic_name,
size_t expected_publisher_count,
size_t expected_subscriber_count,
bool expected_in_tnat,
size_t number_of_tries)
const std::chrono::nanoseconds & timeout)
{
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
Expand All @@ -814,78 +812,39 @@ check_graph_state(
expected_subscriber_count,
expected_in_tnat ? "" : " not"
);
size_t publisher_count = 0;
size_t subscriber_count = 0;
bool is_in_tnat = false;
rcl_names_and_types_t tnat {};
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
for (size_t i = 0; i < number_of_tries; ++i) {
ret = rcl_count_publishers(node_ptr, topic_name.c_str(), &publisher_count);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_count_subscribers(node_ptr, topic_name.c_str(), &subscriber_count);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();

tnat = rcl_get_zero_initialized_names_and_types();
ret = rcl_get_topic_names_and_types(node_ptr, &allocator, false, &tnat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
is_in_tnat = false;
for (size_t i = 0; RCL_RET_OK == ret && i < tnat.names.size; ++i) {
if (topic_name == std::string(tnat.names.data[i])) {
ASSERT_FALSE(is_in_tnat) << "duplicates in the tnat"; // Found it more than once!
is_in_tnat = true;
}
}
if (RCL_RET_OK == ret) {
ret = rcl_names_and_types_fini(&tnat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}

RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
" Try %zu: %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
i + 1,
publisher_count,
subscriber_count,
is_in_tnat ? "" : " not"
);
if (
expected_publisher_count == publisher_count &&
expected_subscriber_count == subscriber_count &&
expected_in_tnat == is_in_tnat)
{
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, " state correct!");
break;
}
// Wait for graph change before trying again.
if ((i + 1) == number_of_tries) {
// Don't wait for the graph to change on the last loop because we won't check again.
continue;
}
ret = rcl_wait_set_clear(wait_set_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(wait_set_ptr, graph_guard_condition, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
" state wrong, waiting up to '%s' nanoseconds for graph changes... ",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(wait_set_ptr, time_to_sleep.count());
if (ret == RCL_RET_TIMEOUT) {
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "timeout");
continue;
// Wait for expected number of publishers
bool success = false;
ret = rcl_wait_for_publishers(
node_ptr, &allocator, topic_name.c_str(), expected_publisher_count, timeout.count(), &success);
ASSERT_EQ(ret, RCL_RET_OK);
EXPECT_TRUE(success);
// Wait for expected number of subscribers
success = false;
ret = rcl_wait_for_subscribers(
node_ptr, &allocator, topic_name.c_str(), expected_subscriber_count, timeout.count(), &success);
ASSERT_EQ(ret, RCL_RET_OK);
EXPECT_TRUE(success);

tnat = rcl_get_zero_initialized_names_and_types();
ret = rcl_get_topic_names_and_types(node_ptr, &allocator, false, &tnat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
is_in_tnat = false;
for (size_t i = 0; RCL_RET_OK == ret && i < tnat.names.size; ++i) {
if (topic_name == std::string(tnat.names.data[i])) {
ASSERT_FALSE(is_in_tnat) << "duplicates in the tnat"; // Found it more than once!
is_in_tnat = true;
}
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "change occurred");
}
if (RCL_RET_OK == ret) {
ret = rcl_names_and_types_fini(&tnat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
EXPECT_EQ(expected_publisher_count, publisher_count);
EXPECT_EQ(expected_subscriber_count, subscriber_count);

if (expected_in_tnat) {
EXPECT_TRUE(is_in_tnat);
} else {
Expand Down Expand Up @@ -1235,18 +1194,14 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
topic_name += std::to_string(now.count());
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using topic name: %s", topic_name.c_str());
rcl_ret_t ret;
const rcl_guard_condition_t * graph_guard_condition =
rcl_node_get_graph_guard_condition(this->node_ptr);
// First assert the "topic_name" is not in use.
check_graph_state(
this->node_ptr,
this->wait_set_ptr,
graph_guard_condition,
topic_name,
0, // expected publishers on topic
0, // expected subscribers on topic
false, // topic expected in graph
9); // number of retries
std::chrono::seconds(4)); // timeout
// Now create a publisher on "topic_name" and check that it is seen.
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
Expand All @@ -1257,13 +1212,11 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
// Check the graph.
check_graph_state(
this->node_ptr,
this->wait_set_ptr,
graph_guard_condition,
topic_name,
1, // expected publishers on topic
0, // expected subscribers on topic
true, // topic expected in graph
9); // number of retries
std::chrono::seconds(4)); // timeout
// Now create a subscriber.
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
Expand All @@ -1273,41 +1226,35 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
// Check the graph again.
check_graph_state(
this->node_ptr,
this->wait_set_ptr,
graph_guard_condition,
topic_name,
1, // expected publishers on topic
1, // expected subscribers on topic
true, // topic expected in graph
9); // number of retries
std::chrono::seconds(4)); // timeout
// Destroy the publisher.
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Check the graph again.
check_graph_state(
this->node_ptr,
this->wait_set_ptr,
graph_guard_condition,
topic_name,
0, // expected publishers on topic
1, // expected subscribers on topic
true, // topic expected in graph
9); // number of retries
std::chrono::seconds(4)); // timeout
// Destroy the subscriber.
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Check the graph again.
check_graph_state(
this->node_ptr,
this->wait_set_ptr,
graph_guard_condition,
topic_name,
0, // expected publishers on topic
0, // expected subscribers on topic
false, // topic expected in graph
9); // number of retries
std::chrono::seconds(4)); // timeout
}

/* Test the graph guard condition notices below changes.
Expand Down
12 changes: 10 additions & 2 deletions rcl/test/rcl/test_info_by_topic.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -359,7 +359,11 @@ TEST_F(
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
const std::string fqdn = std::string("/") + this->topic_name;
// Wait until GraphCache publishers are updated
ASSERT_TRUE(wait_for_graph_publication(&this->node, fqdn.c_str(), 1u, 10, 100));
bool success = false;
ret = rcl_wait_for_publishers(
&this->node, &allocator, fqdn.c_str(), 1u, RCUTILS_S_TO_NS(1), &success);
ASSERT_EQ(ret, RCL_RET_OK);
ASSERT_TRUE(success);
// Get publishers info by topic
rmw_topic_endpoint_info_array_t topic_endpoint_info_array_pub =
rmw_get_zero_initialized_topic_endpoint_info_array();
Expand All @@ -375,7 +379,11 @@ TEST_F(
assert_qos_equality(topic_endpoint_info_pub.qos_profile, default_qos_profile, true);

// Wait until GraphCache subcribers are updated
ASSERT_TRUE(wait_for_graph_subscription(&this->node, fqdn.c_str(), 1u, 10, 100));
success = false;
ret = rcl_wait_for_subscribers(
&this->node, &allocator, fqdn.c_str(), 1u, RCUTILS_S_TO_NS(1), &success);
ASSERT_EQ(ret, RCL_RET_OK);
ASSERT_TRUE(success);
// Get subscribers info by topic
rmw_topic_endpoint_info_array_t topic_endpoint_info_array_sub =
rmw_get_zero_initialized_topic_endpoint_info_array();
Expand Down
60 changes: 0 additions & 60 deletions rcl/test/rcl/wait_for_entity_helpers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -236,63 +236,3 @@ wait_for_subscription_to_be_ready(
}
return false;
}

bool
wait_for_graph_publication(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms)
{
if (count_to_wait == 0) {
return true; // Nothing to wait
}
size_t iteration = 0;
while (iteration < max_tries) {
++iteration;
size_t count;
rcl_ret_t ret = rcl_count_publishers(node, topic_name, &count);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
"Error in rcl_count_publishers: %s", rcl_get_error_string().str);
return false;
}
if (count == count_to_wait) {
return true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(period_ms));
}
return false;
}

bool
wait_for_graph_subscription(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms)
{
if (count_to_wait == 0) {
return true; // Nothing to wait
}
size_t iteration = 0;
while (iteration < max_tries) {
++iteration;
size_t count;
rcl_ret_t ret = rcl_count_subscribers(node, topic_name, &count);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
"Error in rcl_count_subscribers: %s", rcl_get_error_string().str);
return false;
}
if (count == count_to_wait) {
return true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(period_ms));
}
return false;
}
20 changes: 0 additions & 20 deletions rcl/test/rcl/wait_for_entity_helpers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,24 +63,4 @@ wait_for_subscription_to_be_ready(
size_t max_tries,
int64_t period_ms);

/// Wait for specified number of publication in GraphCache
/// by trying at most `max_tries` times with a `period_ms` period.
bool
wait_for_graph_publication(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms);

/// Wait for specified number of subcription in GraphCache
/// by trying at most `max_tries` times with a `period_ms` period.
bool
wait_for_graph_subscription(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms);

#endif // RCL__WAIT_FOR_ENTITY_HELPERS_HPP_

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