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test should check specified number of entities. #935

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merged 3 commits into from
Sep 17, 2021
Merged

test should check specified number of entities. #935

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09f5685
test should check specified number of entities.
fujitatomoya Sep 14, 2021
04e7c26
rename function name to be very explicit about the point of the check.
fujitatomoya Sep 15, 2021
7bc12d2
remove check_graph_state().
fujitatomoya Sep 16, 2021
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2 changes: 1 addition & 1 deletion rcl/src/rcl/graph.c
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Original file line number Diff line number Diff line change
Expand Up @@ -481,7 +481,7 @@ _rcl_wait_for_entities(
rcl_ret_t ret = RCL_RET_OK;
*success = false;

// We can avoid waiting if there are already the expected number of publishers
// We can avoid waiting if there are already the expected number of entities
size_t count = 0u;
ret = count_entities_func(node, topic_name, &count);
if (ret != RCL_RET_OK) {
Expand Down
71 changes: 66 additions & 5 deletions rcl/test/rcl/test_graph.cpp
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Expand Up @@ -852,6 +852,67 @@ check_graph_state(
}
}

void
check_entity_count(
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const rcl_node_t * node_ptr,
std::string & topic_name,
size_t expected_publisher_count,
size_t expected_subscriber_count,
bool expected_in_tnat,
std::chrono::seconds timeout)
{
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME,
"Expecting number of %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
expected_publisher_count,
expected_subscriber_count,
expected_in_tnat ? "" : " not"
);
bool is_in_tnat = false;
rcl_names_and_types_t tnat {};
rcl_ret_t ret;
rcl_allocator_t allocator = rcl_get_default_allocator();
size_t pub_count, sub_count;

// Check number of entities until timeout expires.
auto start_time = std::chrono::system_clock::now();
do {
ret = rcl_count_publishers(node_ptr, topic_name.c_str(), &pub_count);
ASSERT_EQ(ret, RCL_RET_OK);
ret = rcl_count_subscribers(node_ptr, topic_name.c_str(), &sub_count);
ASSERT_EQ(ret, RCL_RET_OK);
if ((expected_publisher_count == pub_count) &&
(expected_subscriber_count == sub_count))
{
break;
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} while (std::chrono::system_clock::now() - start_time < timeout);
EXPECT_EQ(expected_publisher_count, pub_count);
EXPECT_EQ(expected_subscriber_count, sub_count);

tnat = rcl_get_zero_initialized_names_and_types();
ret = rcl_get_topic_names_and_types(node_ptr, &allocator, false, &tnat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
is_in_tnat = false;
for (size_t i = 0; i < tnat.names.size; ++i) {
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if (topic_name == std::string(tnat.names.data[i])) {
ASSERT_FALSE(is_in_tnat) << "duplicates in the tnat"; // Found it more than once!
is_in_tnat = true;
}
}
if (RCL_RET_OK == ret) {
ret = rcl_names_and_types_fini(&tnat);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

if (expected_in_tnat) {
EXPECT_TRUE(is_in_tnat);
} else {
EXPECT_FALSE(is_in_tnat);
}
}

/**
* Type define a get topics function.
*/
Expand Down Expand Up @@ -1195,7 +1256,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using topic name: %s", topic_name.c_str());
rcl_ret_t ret;
// First assert the "topic_name" is not in use.
check_graph_state(
check_entity_count(
this->node_ptr,
topic_name,
0, // expected publishers on topic
Expand All @@ -1210,7 +1271,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Check the graph.
check_graph_state(
check_entity_count(
this->node_ptr,
topic_name,
1, // expected publishers on topic
Expand All @@ -1224,7 +1285,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Check the graph again.
check_graph_state(
check_entity_count(
this->node_ptr,
topic_name,
1, // expected publishers on topic
Expand All @@ -1236,7 +1297,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Check the graph again.
check_graph_state(
check_entity_count(
this->node_ptr,
topic_name,
0, // expected publishers on topic
Expand All @@ -1248,7 +1309,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
// Check the graph again.
check_graph_state(
check_entity_count(
this->node_ptr,
topic_name,
0, // expected publishers on topic
Expand Down