[foxy backport] Backport all unit tests and bug fixes, feature branch #1383

brawner · 2020-10-06T20:52:40Z

This is the start of PRs to backport unit tests and some associated bug fixes. This PR will be "rebased and merged", so commit history and hashes can be linked.

Edit: This PR will act as the feature branch, and I'll merge other backports for tests into this one. Either rebase and merging if the commits can be taken as is, or squashed if changes are needed to each backport commit. If squashed, I will only be squashing the required changes into the original commit (not squashing multiple backport commits together)

Backported PRs
Bug fix PRs: #1179, #1178, #1211, #1245, #1246, #1251, #1253, #1252, #1270, #1274, #1281, #1291, #1310,
New testing features: #1232
Unit test PRs: #1184, #1181, #1202, #1197, #1198, #1221, #1189, #1222, #1165, #1272, #1308, #1316, #1322, #1321, #1326, #1325

* Throw exception if rcl_timer_init fails Signed-off-by: Stephen Brawner <brawner@gmail.com> * Add bad-argument tests for GenericTimer Signed-off-by: Stephen Brawner <brawner@gmail.com> * Add comments Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Check period duration in create_wall_timer Signed-off-by: Stephen Brawner <brawner@gmail.com> * Adding comments Signed-off-by: Stephen Brawner <brawner@gmail.com>

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Unit tests for header-only functions/classes Adds coverage for: * any_service_callback.hpp * any_subscription_callback.hpp * create_subscription.hpp * create_timer.hpp Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Unit tests for node interfaces Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Adjusting comment Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Unit tests for allocator_memory_strategy.hpp Part 1 of 2 for this file, but part 2 of 3 for memory strategies overall Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Remove find_package Signed-off-by: Stephen Brawner <brawner@gmail.com> * Remove ref to osrf_testing_tools Signed-off-by: Stephen Brawner <brawner@gmail.com>

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add unit test for static_executor_entities_collector Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com>

brawner · 2020-10-06T20:56:18Z

Testing --packages-select rclcpp

Linux
Linux-aarch64
macOS
Windows []

jacobperron · 2020-10-06T22:25:07Z

@ros-pull-request-builder retest this please

jacobperron

I just reviewed for ABI compatibility. I didn't thoroughly review the code.

brawner · 2020-10-06T22:53:34Z

Thanks for checking Jacob!

Even though this is green, I'm going to wait until I open a PR with a few fixes in it.

…StaticSingleThreadedExecutor (#1385) * Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (#1220) * Derive and throw exception in spin_some spin_all Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fix style and add unit test Signed-off-by: Stephen Brawner <brawner@gmail.com> * Remove header changes and throw exceptions in .cpp Signed-off-by: Stephen Brawner <brawner@gmail.com>

…1222) (#1386) * Parameterize test executors for all executor types (#1222) * Relocate test_executor to executors directory Signed-off-by: Stephen Brawner <brawner@gmail.com> * Parametrize test_executors for all executor types Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * More fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Adding issue for tracking Signed-off-by: Stephen Brawner <brawner@gmail.com> * Remove tests for non-foxy API Signed-off-by: Stephen Brawner <brawner@gmail.com>

* EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

…#1189) * Unit tests for memory_strategy classes (part 1) Adds unit tests for: * strategies/message_pool_memory_strategy.hpp * memory_strategy.cpp * message_memory_strategy.cpp Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Update with new macros Signed-off-by: Stephen Brawner <brawner@gmail.com>

…#1245) * fix node graph test with Connext and CycloneDDS returning actual data Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com> * use ADD_FAILURE() Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

) * fix failing test with Connext since it doesn't wait for discovery Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com> * Check for added service in the node graph Signed-off-by: Stephen Brawner <brawner@gmail.com> Co-authored-by: Stephen Brawner <brawner@gmail.com>

…1251) It turns out rmw_connext_cpp adds a default waitable that other rmw implementations do not. Adjusting the unit test to take this into account in a non-rmw specific manner. Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Increase timeouts for connext for long tests Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fix cmakelists Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix allocator memory strategy for connext Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Remove non-foxy api changes Signed-off-by: Stephen Brawner <brawner@gmail.com>

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

* Add missing tests API * Reformat style error throw * Add internal errors tests Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>

* Change value used as max representation * Add coverage tests time * Add call to detach clock * Add tests time * Add duration construction tests * Add const qualifier to constants * Add check clock stays the same * Make operator RCLCPP_PUBLIC * Add tests exceptions duration * Fix division by 0 on windows Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>

* Add test for ParameterService Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

Signed-off-by: Stephen Brawner <brawner@gmail.com>

In particular, add API coverage for spin_node_until_future_complete, spin_until_future_complete, and spin_node_once. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add unit tests for qos and qos_event files Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fix windows CI Signed-off-by: Stephen Brawner <brawner@gmail.com>

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Increase coverage of WaitSetTemplate Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR fixup Signed-off-by: Stephen Brawner <brawner@gmail.com>

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>

brawner · 2020-10-09T20:41:51Z

Standard tests --packages-up-to rclcpp

Linux
Linux-aarch64
macOS
Windows

Cyclonedds only

Linux
Linux-aarch64
macOS
Windows

ConnextDds only

Linux
macOS
Windows

Debug build

Linux
Linux-aarch64
macOS
Windows

brawner · 2020-10-12T21:43:03Z

PR to adjust timeouts with Connext. These tests are also timing out on master, so this PR targets that and I'll add it to this PR when it's merged.
#1400

brawner · 2020-10-13T00:49:25Z

This also now includes the following PRs:

#1165, #1272, #1329, #1270, #1274, #1281, #1291, #1310, #1308, #1316, #1321, #1326, #1325, #1232, #1189, #1245, #1246, #1251, #1253, #1252, #1336, #1330, #1346, #1343, #1350, #1349, #1344, #1342, #1353, #1358, #1359, #1360, #1363, #1347, #1355, #1317, #1364, #1365, #1352, #1366, #1369, #1368, #1296,

brawner · 2020-10-13T22:15:33Z

Merged #1401 into foxy, which hopefully resolves the windows debug issue.

brawner · 2020-10-14T17:55:09Z

I added only the rclcpp bits from #1400 to this PR. The rest will need to backported separately because there were merge conflicts.

brawner · 2020-10-14T17:57:05Z

Standard tests:

Linux
Linux-aarch64
macOS
Windows

Connext only:

Linux
Linux-aarch64
macOS
Windows

Debug build:

Linux
Linux-aarch64
macOS
Windows

) * Increase test timeouts of slow running tests with rmw_connext_cpp Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fix other issues with connext Signed-off-by: Stephen Brawner <brawner@gmail.com>

… dependency (#1303) * Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency Signed-off-by: Chen Lihui <Lihui.Chen@sony.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> Signed-off-by: Stephen Brawner <brawner@gmail.com>

brawner · 2020-10-16T20:14:11Z

Standard tests:

Linux
Linux-aarch64
macOS
Windows

Connext only:

Linux
macOS
Windows

Debug:

Linux
Linux-aarch64
macOS
Windows

brawner · 2020-10-16T23:46:16Z

Final CI results look good. The failing test with connext is the SubscriptionTopicStatisticsFixture which is an existing issue on rolling. cppcheck times out on macos debug, which is a periodic failure and would have to be addressed over at ament_lint.

I set DCO to pass because all commits are signed off by their respective authors. Github just had trouble figuring that out...

brawner and others added 9 commits October 6, 2020 13:45

Check period duration in create_wall_timer (#1178)

d932076

* Check period duration in create_wall_timer Signed-off-by: Stephen Brawner <brawner@gmail.com> * Adding comments Signed-off-by: Stephen Brawner <brawner@gmail.com>

Fix rclcpp::NodeOptions::operator= (#1211)

0ee47ef

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Add unit tests for logging functionality (#1184)

7cb96ed

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Unit tests for allocator_memory_strategy.cpp part 2 (#1198)

b1c4166

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Add unit test for static_executor_entities_collector (#1221)

9cf088b

* Add unit test for static_executor_entities_collector Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com>

brawner requested review from ahcorde and jacobperron October 6, 2020 20:52

jacobperron approved these changes Oct 6, 2020

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ahcorde approved these changes Oct 7, 2020

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brawner mentioned this pull request Oct 7, 2020

[foxy backport] Parameterize test executors for all executor types (#1222) #1386

Merged

brawner mentioned this pull request Oct 7, 2020

[foxy backport] Backport various commits for unit tests and coverage #1387

Merged

brawner and others added 7 commits October 7, 2020 11:33

EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests (#1232)

dbf9a19

* EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

Increase timeouts for connext for long tests (#1253)

12aeba2

* Increase timeouts for connext for long tests Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fix cmakelists Signed-off-by: Stephen Brawner <brawner@gmail.com>

Simplify and fix allocator memory strategy unit test for connext (#1252)

93839e1

* Fix allocator memory strategy for connext Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

brawner mentioned this pull request Oct 7, 2020

[foxy backport] Backports for init_options test (#1165, #1272) #1388

Merged

fujitatomoya added 2 commits October 7, 2020 11:36

Ability to configure domain_id via InitOptions. (#1165)

8272a8c

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Remove non-foxy api changes Signed-off-by: Stephen Brawner <brawner@gmail.com>

initialize_logging_ should be copied. (#1272)

ae4bb5c

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

Blast545 and others added 11 commits October 9, 2020 11:45

Add timer coverage tests (#1363)

e1b86e4

* Add missing tests API * Reformat style error throw * Add internal errors tests Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>

Add test for ParameterService (#1355)

1d67840

* Add test for ParameterService Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>

Only exchange intra_process waitable if nonnull (#1317)

0164217

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Finish API coverage on executors. (#1364)

c71f8b6

In particular, add API coverage for spin_node_until_future_complete, spin_until_future_complete, and spin_node_once. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Finish coverage of publisher API (#1365)

85d809c

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Tests for LoanedMessage with mocked loaned message publisher (#1366)

01d4d5b

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Increase coverage of guard_condition.cpp to 100% (#1369)

90f0a5e

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Increase coverage of WaitSetTemplate (#1368)

7b7c491

* Increase coverage of WaitSetTemplate Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR fixup Signed-off-by: Stephen Brawner <brawner@gmail.com>

Make sure to clean the external client/service handle. (#1296)

a4b0442

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>

brawner mentioned this pull request Oct 13, 2020

[foxy] Remove finalization of guard_condition from GraphListener::__shutdown() #1401

Merged

Increase test timeouts of slow running tests with rmw_connext_cpp (#1400

7060b8b

) * Increase test timeouts of slow running tests with rmw_connext_cpp Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fix other issues with connext Signed-off-by: Stephen Brawner <brawner@gmail.com>

brawner force-pushed the brawner/rclcpp-backport-tests-part1 branch from 7cb82cb to 7060b8b Compare October 15, 2020 18:19

brawner mentioned this pull request Oct 15, 2020

[foxy backport] Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency (#1303) #1407

Merged

jacobperron approved these changes Oct 16, 2020

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brawner merged commit 77aae40 into foxy Oct 19, 2020

delete-merged-branch bot deleted the brawner/rclcpp-backport-tests-part1 branch October 19, 2020 17:25

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[foxy backport] Backport all unit tests and bug fixes, feature branch #1383

[foxy backport] Backport all unit tests and bug fixes, feature branch #1383

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[foxy backport] Backport all unit tests and bug fixes, feature branch #1383

[foxy backport] Backport all unit tests and bug fixes, feature branch #1383

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