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Message info with timestamps support in rcl #619

Merged
merged 12 commits into from
Apr 23, 2020
Merged

Message info with timestamps support in rcl #619

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5070188
Zero-initialize message_info prior to taking
iluetkeb Apr 14, 2020
ac4d27f
Added test for timestamp presence
iluetkeb Apr 14, 2020
48257f4
move message_info test to a new test file
iluetkeb Apr 16, 2020
6bf8016
Add conditional timestamp test to normal subscriber test
iluetkeb Apr 21, 2020
840c34a
Remove dedicated timestamp test
iluetkeb Apr 21, 2020
86490c0
Use rmw_time_point_value_t instead of rmw_time_t
iluetkeb Apr 21, 2020
0f63607
Use rcutils for cross-platform compatibility.
iluetkeb Apr 21, 2020
cd2af2c
Style fix.
iluetkeb Apr 21, 2020
a925935
More style fix.
iluetkeb Apr 21, 2020
028a1c8
test fastrtps_dynamic properly; also cmake linter error
iluetkeb Apr 21, 2020
3e433b5
Expect timestamps on cyclonedds as well
iluetkeb Apr 22, 2020
9525c73
Distinguish received timestamp support.
iluetkeb Apr 23, 2020
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3 changes: 3 additions & 0 deletions rcl/src/rcl/subscription.c
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Original file line number Diff line number Diff line change
Expand Up @@ -263,6 +263,7 @@ rcl_take(
// If message_info is NULL, use a place holder which can be discarded.
rmw_message_info_t dummy_message_info;
rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
*message_info_local = rmw_get_zero_initialized_message_info();
// Call rmw_take_with_info.
bool taken = false;
rmw_ret_t ret = rmw_take_with_info(
Expand Down Expand Up @@ -298,6 +299,7 @@ rcl_take_serialized_message(
// If message_info is NULL, use a place holder which can be discarded.
rmw_message_info_t dummy_message_info;
rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
*message_info_local = rmw_get_zero_initialized_message_info();
// Call rmw_take_with_info.
bool taken = false;
rmw_ret_t ret = rmw_take_serialized_message_with_info(
Expand Down Expand Up @@ -335,6 +337,7 @@ rcl_take_loaned_message(
// If message_info is NULL, use a place holder which can be discarded.
rmw_message_info_t dummy_message_info;
rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
*message_info_local = rmw_get_zero_initialized_message_info();
// Call rmw_take_with_info.
bool taken = false;
rmw_ret_t ret = rmw_take_loaned_message_with_info(
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6 changes: 6 additions & 0 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -205,6 +205,12 @@ function(test_target_function)
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
)
if(rmw_implementation STREQUAL "rmw_fastrtps_cpp")
message(STATUS "Enabling message timestamp test for ${rmw_implementation}")
target_compile_definitions(test_subscription${target_suffix} PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1")
else()
message(STATUS "Disabling message timestamp test for ${rmw_implementation}")
endif()

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rcl_add_custom_gtest(test_events${target_suffix}
SRCS rcl/test_events.cpp
Expand Down
20 changes: 19 additions & 1 deletion rcl/test/rcl/test_subscription.cpp
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Expand Up @@ -179,6 +179,12 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
#ifdef RMW_TIMESTAMPS_SUPPORTED
timespec pre_publish_ts;
EXPECT_EQ(0, clock_gettime(CLOCK_REALTIME, &pre_publish_ts)) << " clock_gettime failed";
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rmw_time_point_value_t pre_publish_time =
RCUTILS_S_TO_NS(pre_publish_ts.tv_sec) + pre_publish_ts.tv_nsec;
#endif
{
test_msgs__msg__BasicTypes msg;
test_msgs__msg__BasicTypes__init(&msg);
Expand All @@ -197,9 +203,21 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
{
test_msgs__msg__BasicTypes__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
rmw_message_info_t message_info = rmw_get_zero_initialized_message_info();
ret = rcl_take(&subscription, &msg, &message_info, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(42, msg.int64_value);
#ifdef RMW_TIMESTAMPS_SUPPORTED
EXPECT_NE(0u, message_info.source_timestamp);
EXPECT_TRUE(pre_publish_time <= message_info.source_timestamp) <<
pre_publish_time << " > " << message_info.source_timestamp;
EXPECT_NE(0u, message_info.received_timestamp);
EXPECT_TRUE(pre_publish_time <= message_info.received_timestamp);
EXPECT_TRUE(message_info.source_timestamp <= message_info.received_timestamp);
#else
EXPECT_EQ(0u, message_info.source_timestamp);
EXPECT_EQ(0u, message_info.received_timestamp);
#endif
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}
}

Expand Down