ros2GH-23 Add test for record all

bosch-io · Sep 5, 2018 · ebfb989 · ebfb989
1 parent 9ab0ee2
commit ebfb989
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Showing 4 changed files with 201 additions and 97 deletions.
diff --git a/rosbag2/CMakeLists.txt b/rosbag2/CMakeLists.txt
@@ -86,6 +86,14 @@ if(BUILD_TESTING)
     target_link_libraries(rosbag2_write_integration_test librosbag2)
   endif()
 
+  ament_add_gmock(rosbag2_write_all_integration_test
+    test/rosbag2/rosbag2_write_all_integration_test.cpp
+    test/rosbag2/test_memory_management.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET rosbag2_write_all_integration_test)
+    target_link_libraries(rosbag2_write_all_integration_test librosbag2)
+  endif()
+
   ament_add_gmock(rosbag2_read_integration_test
     test/rosbag2/rosbag2_read_integration_test.cpp
     test/rosbag2/test_memory_management.cpp

diff --git a/rosbag2/test/rosbag2/rosbag2_write_all_integration_test.cpp b/rosbag2/test/rosbag2/rosbag2_write_all_integration_test.cpp
@@ -0,0 +1,56 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rosbag2/rosbag2.hpp"
+#include "rosbag2_storage/serialized_bag_message.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "std_msgs/msg/u_int8.hpp"
+
+#include "rosbag2_write_integration_fixture.hpp"
+#include "test_memory_management.hpp"
+
+// TODO(Martin-Idel-SI): merge with other write and read tests once signal handling is sorted out
+TEST_F(RosBag2IntegrationTestFixture, published_messages_from_multiple_topics_are_recorded)
+{
+  std::string int_topic = "/int_topic";
+  auto serialized_int_bag_message = serialize_message<std_msgs::msg::UInt8>(int_topic, 10);
+
+  std::string string_topic = "/string_topic";
+  auto serialized_string_bag_message = serialize_message<std_msgs::msg::String>(
+    string_topic, "test_message");
+
+  start_publishing(serialized_string_bag_message, string_topic, 2);
+  start_publishing(serialized_int_bag_message, int_topic, 2);
+
+  start_recording_all_topics();
+  wait_for_publishers();
+  stop_recording();
+
+  auto recorded_messages = get_messages(database_name_);
+
+  ASSERT_THAT(recorded_messages, SizeIs(4));
+  auto string_messages = filter_messages<std_msgs::msg::String>(recorded_messages, string_topic);
+  auto int_messages = filter_messages<std_msgs::msg::UInt8>(recorded_messages, int_topic);
+  ASSERT_THAT(string_messages, SizeIs(2));
+  ASSERT_THAT(int_messages, SizeIs(2));
+  EXPECT_THAT(string_messages[0]->data, Eq("test_message"));
+  EXPECT_THAT(int_messages[0]->data, Eq(10));
+}
diff --git a/rosbag2/test/rosbag2/rosbag2_write_integration_fixture.hpp b/rosbag2/test/rosbag2/rosbag2_write_integration_fixture.hpp
@@ -0,0 +1,136 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+
+#include <future>
+#include <map>
+#include <memory>
+#include <string>
+#include <vector>
+#include <utility>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rosbag2/rosbag2.hpp"
+#include "rosbag2_storage/serialized_bag_message.hpp"
+
+#include "rosbag2_test_fixture.hpp"
+#include "test_memory_management.hpp"
+
+using namespace ::testing;  // NOLINT
+using namespace rosbag2;  // NOLINT
+using namespace std::chrono_literals;  // NOLINT
+
+#ifndef ROSBAG2__ROSBAG2_WRITE_INTEGRATION_FIXTURE_HPP_
+#define ROSBAG2__ROSBAG2_WRITE_INTEGRATION_FIXTURE_HPP_
+
+class RosBag2IntegrationTestFixture : public Rosbag2TestFixture
+{
+public:
+  RosBag2IntegrationTestFixture()
+  : Rosbag2TestFixture()
+  {}
+
+  void SetUp() override
+  {
+    rclcpp::init(0, nullptr);
+    publisher_node_ = rclcpp::Node::make_shared("publisher_node");
+  }
+
+  void record_message(const std::string & db_name, std::vector<std::string> topics)
+  {
+    rosbag2::Rosbag2 rosbag2;
+    rosbag2.record(db_name, topics, [this](std::string topic_name) {
+        messages_stored_counter_[topic_name]++;
+      });
+  }
+
+  void start_recording(std::vector<std::string> topics)
+  {
+    // the future object returned from std::async needs to be stored not to block the execution
+    future_ = std::async(
+      std::launch::async, [this, topics]() {
+        record_message(database_name_, topics);
+      });
+  }
+
+  void start_recording_all_topics()
+  {
+    // the future object returned from std::async needs to be stored not to block the execution
+    future_ = std::async(
+      std::launch::async, [this]() {
+        record_message(database_name_, {});
+      });
+  }
+
+  void stop_recording()
+  {
+    rclcpp::shutdown();
+    future_.get();
+  }
+
+  void wait_for_publishers()
+  {
+    for (auto & future : publisher_futures_) {
+      future.get();
+    }
+  }
+
+  void start_publishing(
+    std::shared_ptr<rosbag2_storage::SerializedBagMessage> message,
+    std::string topic_name, size_t number_expected_messages)
+  {
+    messages_stored_counter_.insert({topic_name, 0});
+    publisher_futures_.push_back(std::async(
+        std::launch::async, [this, message, topic_name, number_expected_messages]() {
+          auto publisher = publisher_node_->create_publisher<std_msgs::msg::String>(topic_name);
+
+          while (rclcpp::ok() && messages_stored_counter_[topic_name] < number_expected_messages) {
+            publisher->publish(message->serialized_data);
+            // We need to wait a bit, in order for record to process the messages
+            std::this_thread::sleep_for(50ms);
+          }
+        }
+    ));
+  }
+
+  template<typename MessageT>
+  std::shared_ptr<MessageT> deserialize_message(
+    std::shared_ptr<rosbag2_storage::SerializedBagMessage> message)
+  {
+    return memory_.deserialize_message<MessageT>(message->serialized_data);
+  }
+
+  template<typename MessageT>
+  std::vector<std::shared_ptr<MessageT>> filter_messages(
+    std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages,
+    std::string topic)
+  {
+    std::vector<std::shared_ptr<MessageT>> filtered_messages;
+    for (const auto & message : messages) {
+      if (message->topic_name == topic) {
+        filtered_messages.push_back(deserialize_message<MessageT>(message));
+      }
+    }
+    return filtered_messages;
+  }
+
+  rclcpp::Node::SharedPtr publisher_node_;
+  test_helpers::TestMemoryManagement memory_;
+  std::map<std::string, size_t> messages_stored_counter_;
+  std::vector<std::future<void>> publisher_futures_;
+  std::future<void> future_;
+};
+
+#endif  // ROSBAG2__ROSBAG2_WRITE_INTEGRATION_FIXTURE_HPP_
diff --git a/rosbag2/test/rosbag2/rosbag2_write_integration_test.cpp b/rosbag2/test/rosbag2/rosbag2_write_integration_test.cpp
@@ -14,116 +14,20 @@
 
 #include <gmock/gmock.h>
 
-#include <future>
-#include <map>
 #include <memory>
 #include <string>
 #include <vector>
-#include <utility>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rosbag2/rosbag2.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "std_msgs/msg/u_int8.hpp"
 
-#include "rosbag2_test_fixture.hpp"
+#include "rosbag2_write_integration_fixture.hpp"
 #include "test_memory_management.hpp"
 
-using namespace ::testing;  // NOLINT
-using namespace rosbag2;  // NOLINT
-using namespace std::chrono_literals;  // NOLINT
-
 // TODO(Martin-Idel-SI): merge with other write and read tests once signal handling is sorted out
-class RosBag2IntegrationTestFixture : public Rosbag2TestFixture
-{
-public:
-  RosBag2IntegrationTestFixture()
-  : Rosbag2TestFixture()
-  {}
-
-  void SetUp() override
-  {
-    rclcpp::init(0, nullptr);
-    publisher_node_ = rclcpp::Node::make_shared("publisher_node");
-  }
-
-  void record_message(const std::string & db_name, std::vector<std::string> topics)
-  {
-    rosbag2::Rosbag2 rosbag2;
-    rosbag2.record(db_name, topics, [this](std::string topic_name) {
-        messages_stored_counter_[topic_name]++;
-      });
-  }
-
-  void start_recording(std::vector<std::string> topics)
-  {
-    // the future object returned from std::async needs to be stored not to block the execution
-    future_ = std::async(
-      std::launch::async, [this, topics]() {
-        record_message(database_name_, topics);
-      });
-  }
-
-  void stop_recording()
-  {
-    rclcpp::shutdown();
-    future_.get();
-  }
-
-  void wait_for_publishers()
-  {
-    for (auto & future : publisher_futures_) {
-      future.get();
-    }
-  }
-
-  void start_publishing(
-    std::shared_ptr<rosbag2_storage::SerializedBagMessage> message,
-    std::string topic_name, size_t number_expected_messages)
-  {
-    messages_stored_counter_.insert({topic_name, 0});
-    publisher_futures_.push_back(std::async(
-        std::launch::async, [this, message, topic_name, number_expected_messages]() {
-          auto publisher = publisher_node_->create_publisher<std_msgs::msg::String>(topic_name);
-
-          while (rclcpp::ok() && messages_stored_counter_[topic_name] < number_expected_messages) {
-            publisher->publish(message->serialized_data);
-            // We need to wait a bit, in order for record to process the messages
-            std::this_thread::sleep_for(50ms);
-          }
-        }
-    ));
-  }
-
-  template<typename MessageT>
-  std::shared_ptr<MessageT> deserialize_message(
-    std::shared_ptr<rosbag2_storage::SerializedBagMessage> message)
-  {
-    return memory_.deserialize_message<MessageT>(message->serialized_data);
-  }
-
-  template<typename MessageT>
-  std::vector<std::shared_ptr<MessageT>> filter_messages(
-    std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages,
-    std::string topic)
-  {
-    std::vector<std::shared_ptr<MessageT>> filtered_messages;
-    for (const auto & message : messages) {
-      if (message->topic_name == topic) {
-        filtered_messages.push_back(deserialize_message<MessageT>(message));
-      }
-    }
-    return filtered_messages;
-  }
-
-  rclcpp::Node::SharedPtr publisher_node_;
-  test_helpers::TestMemoryManagement memory_;
-  std::map<std::string, size_t> messages_stored_counter_;
-  std::vector<std::future<void>> publisher_futures_;
-  std::future<void> future_;
-};
-
 TEST_F(RosBag2IntegrationTestFixture, published_messages_from_multiple_topics_are_recorded)
 {
   std::string int_topic = "/int_topic";