Add topologies for testing #125
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -33,12 +33,89 @@ set(TOPOLOGY_FILES | |
| topology/debug_sierra_nevada_best_effort.json | ||
| topology/debug_mont_blanc_reliable.json | ||
| topology/debug_mont_blanc_best_effort.json | ||
| topology/debug_white_mountain_best_effort.json | ||
| ) | ||
|
|
||
| install(FILES | ||
| ${TOPOLOGY_FILES} | ||
| DESTINATION lib/${PROJECT_NAME}/topology) | ||
|
|
||
| set(SP topology/tests/single_process) | ||
|
There was a problem hiding this comment. What do you think about removing the There was a problem hiding this comment. 5530b70 There was a problem hiding this comment. LGTM! Another question though, the white_mountain_fixed_size_debug.json specifies There was a problem hiding this comment. In 389c1d7 I've renamed the topologies specifying the reliability. There was a problem hiding this comment. I'm seeing a duplicate debug_white_mountain_best_effort.json in the top-level There was a problem hiding this comment. Nice, just removed it. |
||
|
|
||
| set(TOPOLOGY_FILES_SINGLE_PROCESS | ||
| ${SP}/pub_sub_loaned_10b.json | ||
| ${SP}/pub_sub_loaned_100kb.json | ||
| ${SP}/pub_sub_loaned_1mb.json | ||
| ${SP}/pub_sub_loaned_4mb.json | ||
|
|
||
| ${SP}/pub_sub_10b_ipc_on.json | ||
| ${SP}/pub_sub_100kb_ipc_on.json | ||
| ${SP}/pub_sub_1mb_ipc_on.json | ||
| ${SP}/pub_sub_4mb_ipc_on.json | ||
|
|
||
| ${SP}/pub_sub_10b_ipc_off.json | ||
| ${SP}/pub_sub_100kb_ipc_off.json | ||
| ${SP}/pub_sub_1mb_ipc_off.json | ||
| ${SP}/pub_sub_4mb_ipc_off.json | ||
| ) | ||
|
|
||
| install(FILES | ||
| ${TOPOLOGY_FILES_SINGLE_PROCESS} | ||
| DESTINATION lib/${PROJECT_NAME}/${SP}) | ||
|
|
||
| set(MP topology/tests/multi_process) | ||
|
|
||
| set(TOPOLOGY_FILES_MULTI_PROCESS | ||
| ${MP}/pub_ipc_off_10b.json | ||
| ${MP}/pub_ipc_off_100kb.json | ||
| ${MP}/pub_ipc_off_1mb.json | ||
| ${MP}/pub_ipc_off_4mb.json | ||
|
|
||
| ${MP}/sub_ipc_off_10b.json | ||
| ${MP}/sub_ipc_off_100kb.json | ||
| ${MP}/sub_ipc_off_1mb.json | ||
| ${MP}/sub_ipc_off_4mb.json | ||
|
|
||
| ${MP}/pub_loaned_10b.json | ||
| ${MP}/pub_loaned_100kb.json | ||
| ${MP}/pub_loaned_1mb.json | ||
| ${MP}/pub_loaned_4mb.json | ||
|
|
||
| ${MP}/sub_loaned_10b.json | ||
| ${MP}/sub_loaned_100kb.json | ||
| ${MP}/sub_loaned_1mb.json | ||
| ${MP}/sub_loaned_4mb.json | ||
| ) | ||
|
|
||
| install(FILES | ||
| ${TOPOLOGY_FILES_MULTI_PROCESS} | ||
| DESTINATION lib/${PROJECT_NAME}/${MP}) | ||
|
|
||
| set(FT topology/tests/full_topologies) | ||
|
|
||
| set(TEST_TOPOLOGY_FILES | ||
| ${FT}/sierra_nevada_fixed_size_debug.json | ||
| ${FT}/sierra_nevada_fixed_size.json | ||
| ${FT}/sierra_nevada_fixed_size_loaned.json | ||
| ${FT}/sierra_nevada_loaned.json | ||
| ${FT}/white_mountain_fixed_size_debug.json | ||
| ${FT}/white_mountain_fixed_size.json | ||
| ${FT}/white_mountain_fixed_size_loaned.json | ||
| ${FT}/white_mountain_loaned.json | ||
| ) | ||
|
|
||
| install(FILES | ||
| ${TEST_TOPOLOGY_FILES} | ||
| DESTINATION lib/${PROJECT_NAME}/${FT}) | ||
|
|
||
| set(PROFILES | ||
| profiles/fastdds_settings_shm.xml | ||
| profiles/ignore_local_endpoints.xml) | ||
|
|
||
| install(FILES | ||
| ${PROFILES} | ||
| DESTINATION lib/${PROJECT_NAME}/profiles) | ||
|
|
||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
|
|
||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles"> | ||
| <profiles> | ||
| <!-- SHM Transport profile --> | ||
| <transport_descriptors> | ||
| <transport_descriptor> | ||
| <transport_id>shm_transport</transport_id> | ||
| <type>SHM</type> | ||
| </transport_descriptor> | ||
| </transport_descriptors> | ||
|
|
||
| <!-- Domain Participant Profile --> | ||
| <participant profile_name="domainparticipant_profile_name" is_default_profile="true"> | ||
| <rtps> | ||
| <!-- Use user defined UDPv4 transport --> | ||
| <userTransports> | ||
| <transport_id>shm_transport</transport_id> | ||
| </userTransports> | ||
| <!-- Disable builtin transports --> | ||
| <useBuiltinTransports>false</useBuiltinTransports> | ||
| </rtps> | ||
| </participant> | ||
| </profiles> | ||
| </dds> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" > | ||
| <library_settings> | ||
| <intraprocess_delivery>OFF</intraprocess_delivery> | ||
| </library_settings> | ||
| <profiles> | ||
| <transport_descriptors> | ||
| <transport_descriptor> | ||
| <transport_id>UDP</transport_id> | ||
| <type>UDPv4</type> | ||
| </transport_descriptor> | ||
| </transport_descriptors> | ||
| <participant profile_name="participant_profile" is_default_profile="true"> | ||
| <rtps> | ||
| <userTransports> | ||
| <transport_id>UDP</transport_id> | ||
| </userTransports> | ||
| <useBuiltinTransports>false</useBuiltinTransports> | ||
| </rtps> | ||
| </participant> | ||
| <data_writer profile_name="/number"> | ||
| <propertiesPolicy> | ||
| <properties> | ||
| <property> | ||
| <name>fastdds.match_local_endpoints</name> | ||
| <value>false</value> | ||
| <propagate>false</propagate> | ||
| </property> | ||
| </properties> | ||
| </propertiesPolicy> | ||
| </data_writer> | ||
| <data_reader profile_name="/number"> | ||
| <propertiesPolicy> | ||
| <properties> | ||
| <property> | ||
| <name>fastdds.match_local_endpoints</name> | ||
| <value>false</value> | ||
| <propagate>false</propagate> | ||
| </property> | ||
| </properties> | ||
| </propertiesPolicy> | ||
| </data_reader> | ||
| </profiles> | ||
| </dds> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| { | ||
| "nodes": [ | ||
| { | ||
| "node_name": "debug_node", | ||
| "subscribers":[ | ||
| {"topic_name":"amazon", "msg_type":"stamped9_float32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"arkansas", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"brazos", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"chenab", "msg_type":"stamped1kb", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"colorado", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"columbia", "msg_type":"stamped600kb", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"congo", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"danube", "msg_type":"stamped_int64", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"ganges", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"godavari", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"lena", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"loire", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"mekong", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"missouri", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"murray", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"nile", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"ohio", "msg_type":"stamped100b", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"parana", "msg_type":"stamped3_float32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"salween", "msg_type":"stamped12_float32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"tagus", "msg_type":"stamped_vector", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"tigris", "msg_type":"stamped4_float32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"volga", "msg_type":"stamped_int64", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"yamuna", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}, | ||
| {"topic_name":"yamuna", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"} | ||
| ] | ||
| } | ||
| ] | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| { | ||
| "nodes": [ | ||
| { | ||
| "node_name": "montreal", | ||
| "publishers": [ | ||
| {"topic_name": "amazon", "msg_type": "stamped9_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"}, | ||
| {"topic_name": "nile", "msg_type": "stamped4_int32", "period_ms": 10, "msg_pass_by":"shared_ptr"}, | ||
| {"topic_name": "ganges", "msg_type": "stamped4_int32", "period_ms": 10, "msg_pass_by":"shared_ptr"}, | ||
| {"topic_name": "danube", "msg_type": "stamped_int64", "period_ms": 10, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "lyon", | ||
| "subscribers":[ | ||
| {"topic_name":"amazon", "msg_type":"stamped9_float32"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "tigris", "msg_type": "stamped4_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "hamburg", | ||
| "subscribers":[ | ||
| {"topic_name":"nile", "msg_type":"stamped4_int32"}, | ||
| {"topic_name":"tigris", "msg_type":"stamped4_float32"}, | ||
| {"topic_name":"ganges", "msg_type":"stamped4_int32"}, | ||
| {"topic_name":"danube", "msg_type":"stamped_int64"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "parana", "msg_type": "stamped3_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "osaka", | ||
| "subscribers":[ | ||
| {"topic_name":"parana", "msg_type":"stamped3_float32"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "salween", "msg_type": "stamped12_float32", "period_ms": 100, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "mandalay", | ||
| "subscribers":[ | ||
| {"topic_name":"salween", "msg_type":"stamped12_float32"}, | ||
| {"topic_name":"danube", "msg_type":"stamped_int64"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "missouri", "msg_type": "stamped10kb", "period_ms": 100, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "ponce", | ||
| "subscribers":[ | ||
| {"topic_name":"missouri", "msg_type":"stamped10kb"}, | ||
| {"topic_name":"danube", "msg_type":"stamped_int64"}, | ||
| {"topic_name":"volga", "msg_type":"stamped_int64"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "mekong", "msg_type": "stamped100b", "period_ms": 500, "msg_pass_by":"shared_ptr"}, | ||
| {"topic_name": "congo", "msg_type": "stamped4_int32", "period_ms": 100, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "barcelona", | ||
| "subscribers":[ | ||
| {"topic_name":"mekong", "msg_type":"stamped100b"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "lena", "msg_type": "stamped50b", "period_ms": 100, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "georgetown", | ||
| "subscribers":[ | ||
| {"topic_name":"lena", "msg_type":"stamped50b"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "volga", "msg_type": "stamped_int64", "period_ms": 500, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "geneva", | ||
| "subscribers":[ | ||
| {"topic_name":"congo", "msg_type":"stamped4_int32"}, | ||
| {"topic_name":"danube", "msg_type":"stamped_int64"}, | ||
| {"topic_name":"parana", "msg_type":"stamped3_float32"} | ||
| ], | ||
| "publishers": [ | ||
| {"topic_name": "arkansas", "msg_type": "stamped4_int32", "period_ms": 100, "msg_pass_by":"shared_ptr"} | ||
| ] | ||
| }, | ||
|
|
||
| { | ||
| "node_name": "arequipa", | ||
| "subscribers":[ | ||
| {"topic_name":"arkansas", "msg_type":"stamped4_int32"} | ||
| ] | ||
| } | ||
| ] | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| { | ||
| "nodes": [ | ||
| { | ||
| "node_name": "debug_node", | ||
| "subscribers":[ | ||
| {"topic_name":"amazon", "msg_type":"stamped9_float32"}, | ||
| {"topic_name":"arkansas", "msg_type":"stamped4_int32"}, | ||
| {"topic_name":"congo", "msg_type":"stamped4_int32"}, | ||
| {"topic_name":"danube", "msg_type":"stamped_int64"}, | ||
| {"topic_name":"ganges", "msg_type":"stamped4_int32"}, | ||
| {"topic_name":"lena", "msg_type":"stamped50b"}, | ||
| {"topic_name":"mekong", "msg_type":"stamped100b"}, | ||
| {"topic_name":"missouri", "msg_type":"stamped10kb"}, | ||
| {"topic_name":"nile", "msg_type":"stamped4_int32"}, | ||
| {"topic_name":"parana", "msg_type":"stamped3_float32"}, | ||
| {"topic_name":"salween", "msg_type":"stamped12_float32"}, | ||
| {"topic_name":"tigris", "msg_type":"stamped4_float32"}, | ||
| {"topic_name":"volga", "msg_type":"stamped_int64"} | ||
| ] | ||
| } | ||
| ] | ||
| } |
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Out of curiosity, what is the purpose/goal of the
debug_*_best_effort.jsontopologies?There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Just to have the debug node of the
white_mountain.jsontopology.There's also the
white_mountain_fixed_size_debug.jsonbut that's the debug of the "fixed size" versionThere was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
It's a topology with a single node that subscribes to all topics published by the white-mountain.
it simulates a "debug station" connecting to the robot for logging or visualization.
FWIW, these debug topologies could be automatically generated