From 767a61b7f37d5ee2cd069bab109c74d09f7217e1 Mon Sep 17 00:00:00 2001 From: Barry Xu Date: Fri, 8 Jan 2021 16:42:09 +0800 Subject: [PATCH] Re-add "Improve trigger test for graph guard condition (#811)" Updated codes based on commit a6cacef15839deb249433f3bc0dfa621ac60095d. Signed-off-by: Barry Xu --- rcl/test/rcl/test_graph.cpp | 221 ++++++++++++++++++++++++++---------- 1 file changed, 161 insertions(+), 60 deletions(-) diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp index 5d7f2ee493..9f9ed25046 100644 --- a/rcl/test/rcl/test_graph.cpp +++ b/rcl/test/rcl/test_graph.cpp @@ -1223,75 +1223,176 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio 9); // number of retries } -/* Test the graph guard condition notices topic changes. +/* Test the graph guard condition notices below changes. + * publisher create/destroy, subscription create/destroy + * service create/destroy, client create/destroy + * Other node added/removed * * Note: this test could be impacted by other communications on the same ROS Domain. */ -TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_topics) { +TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_trigger_check) { +#define CHECK_GUARD_CONDITION_CHANGE(EXPECTED_RESULT, TIMEOUT) do { \ + ret = rcl_wait_set_clear(&wait_set); \ + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \ + ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL); \ + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \ + ret = rcl_wait(&wait_set, TIMEOUT.count()); \ + ASSERT_EQ(EXPECTED_RESULT, ret) << rcl_get_error_string().str; \ +} while (0) + rcl_ret_t ret; - // Create a thread to sleep for a time, then create a publisher, sleep more, then a subscriber, - // sleep more, destroy the subscriber, sleep more, and then destroy the publisher. - std::promise topic_changes_promise; - std::thread topic_thread( - [this, &topic_changes_promise]() { - // sleep - std::this_thread::sleep_for(std::chrono::milliseconds(200)); - // create the publisher - rcl_publisher_t pub = rcl_get_zero_initialized_publisher(); - rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options(); - rcl_ret_t ret = rcl_publisher_init( - &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes), - "/chatter_test_graph_guard_condition_topics", &pub_ops); - EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; - // sleep - std::this_thread::sleep_for(std::chrono::milliseconds(200)); - // create the subscription - rcl_subscription_t sub = rcl_get_zero_initialized_subscription(); - rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options(); - ret = rcl_subscription_init( - &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes), - "/chatter_test_graph_guard_condition_topics", &sub_ops); - EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; - // sleep - std::this_thread::sleep_for(std::chrono::milliseconds(200)); - // destroy the subscription - ret = rcl_subscription_fini(&sub, this->node_ptr); - EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; - // sleep - std::this_thread::sleep_for(std::chrono::milliseconds(200)); - // destroy the publication - ret = rcl_publisher_fini(&pub, this->node_ptr); - EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; - // notify that the thread is done - topic_changes_promise.set_value(true); - }); - // Wait for the graph state to change, expecting it to do so at least 4 times, - // once for each change in the topics thread. + std::chrono::nanoseconds timeout_1s = std::chrono::seconds(1); + std::chrono::nanoseconds timeout_3s = std::chrono::seconds(3); + + rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); + ret = rcl_wait_set_init( + &wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator()); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str; + }); + const rcl_guard_condition_t * graph_guard_condition = - rcl_node_get_graph_guard_condition(this->node_ptr); - ASSERT_NE(nullptr, graph_guard_condition) << rcl_get_error_string().str; - std::shared_future future = topic_changes_promise.get_future(); - size_t graph_changes_count = 0; - // while the topic thread is not done, wait and count the graph changes - while (future.wait_for(std::chrono::seconds(0)) != std::future_status::ready) { - ret = rcl_wait_set_clear(this->wait_set_ptr); + rcl_node_get_graph_guard_condition(node_ptr); + + // Wait for no graph change condition + int idx = 0; + for (; idx < 100; idx++) { + ret = rcl_wait_set_clear(&wait_set); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; - ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition, NULL); + ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL); 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, - "waiting up to '%s' nanoseconds for graph changes", - std::to_string(time_to_sleep.count()).c_str()); - ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count()); - if (ret == RCL_RET_TIMEOUT) { - continue; + ret = rcl_wait(&wait_set, timeout_3s.count()); + if (RCL_RET_TIMEOUT == ret) { + break; + } else { + RCUTILS_LOG_INFO_NAMED( + ROS_PACKAGE_NAME, + "waiting for no graph change condition ..."); } - graph_changes_count++; } - topic_thread.join(); - // expect at least 4 changes - ASSERT_GE(graph_changes_count, 4ul); + ASSERT_NE(idx, 100); + + // Graph change since creating the publisher + rcl_publisher_t pub = rcl_get_zero_initialized_publisher(); + rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options(); + ret = rcl_publisher_init( + &pub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes), + "/chatter_test_graph_guard_condition_topics", &pub_ops); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since destroying the publisher + ret = rcl_publisher_fini(&pub, node_ptr); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since creating the subscription + rcl_subscription_t sub = rcl_get_zero_initialized_subscription(); + rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options(); + ret = rcl_subscription_init( + &sub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes), + "/chatter_test_graph_guard_condition_topics", &sub_ops); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since destroying the subscription + ret = rcl_subscription_fini(&sub, node_ptr); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since creating service + rcl_service_t service = rcl_get_zero_initialized_service(); + rcl_service_options_t service_options = rcl_service_get_default_options(); + ret = rcl_service_init( + &service, + node_ptr, + ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes), + "test_graph_guard_condition_service", + &service_options); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since destroy service + ret = rcl_service_fini(&service, node_ptr); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since creating client + rcl_client_t client = rcl_get_zero_initialized_client(); + rcl_client_options_t client_options = rcl_client_get_default_options(); + ret = rcl_client_init( + &client, + node_ptr, + ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes), + "test_graph_guard_condition_service", + &client_options); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since destroying client + ret = rcl_client_fini(&client, node_ptr); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Graph change since adding new node + rcl_node_t node_new = rcl_get_zero_initialized_node(); + rcl_node_options_t node_options = rcl_node_get_default_options(); + ret = rcl_node_init(&node_new, "test_graph2", "", context_ptr, &node_options); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_3s); + } + + // Graph change since destroying new node + ret = rcl_node_fini(&node_new); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s); + } + + // Should not get graph change if no change + { + SCOPED_TRACE("Check guard condition change failed !"); + CHECK_GUARD_CONDITION_CHANGE(RCL_RET_TIMEOUT, timeout_1s); + } } /* Test the rcl_service_server_is_available function.