Add unit tests

Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -157,11 +157,11 @@ class SubscriptionTopicStatistics
   /// Construct and start all collectors and set window_start_.
   void bring_up()
   {
-    const auto received_message_age = std::make_unique<ReceivedMessageAge>();
+    auto received_message_age = std::make_unique<ReceivedMessageAge>();
     received_message_age->Start();
     subscriber_statistics_collectors_.emplace_back(std::move(received_message_age));
 
-    const auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
+    auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
     received_message_period->Start();
     subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
 

rclcpp/test/topic_statistics/test_subscription_topic_statistics.cpp

@@ -18,6 +18,7 @@
 #include <chrono>
 #include <iostream>
 #include <memory>
+#include <set>
 #include <string>
 #include <vector>
 
@@ -46,7 +47,6 @@ constexpr const char kTestSubNodeName[]{"test_sub_stats_node"};
 constexpr const char kTestSubStatsTopic[]{"/test_sub_stats_topic"};
 constexpr const char kTestTopicStatisticsTopic[]{"/test_topic_statistics_topic"};
 constexpr const uint64_t kNoSamples{0};
-constexpr const std::chrono::milliseconds kTestStatsPublishPeriod{5000};
 constexpr const std::chrono::seconds kTestDuration{10};
 }  // namespace
 
@@ -97,11 +97,6 @@ class EmptyPublisher : public rclcpp::Node
 
   virtual ~EmptyPublisher() = default;
 
-  size_t get_number_published()
-  {
-    return number_published_.load();
-  }
-
 private:
   void publish_message()
   {
@@ -204,7 +199,8 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_single_empty_stats_m
   // create a listener for topic statistics messages
   auto statistics_listener = std::make_shared<rclcpp::topic_statistics::MetricsMessageSubscriber>(
     "test_receive_single_empty_stats_message_listener",
-    "/statistics");
+    "/statistics",
+    2);
 
   rclcpp::executors::SingleThreadedExecutor ex;
   ex.add_node(empty_publisher);
@@ -217,31 +213,51 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_single_empty_stats_m
     kTestDuration);
 
   // compare message counts, sample count should be the same as published and received count
-  EXPECT_EQ(1, statistics_listener->GetNumberOfMessagesReceived());
+  EXPECT_EQ(2, statistics_listener->GetNumberOfMessagesReceived());
 
   // check the received message and the data types
-  const auto received_message = statistics_listener->GetLastReceivedMessage();
-  for (const auto & stats_point : received_message.statistics) {
-    const auto type = stats_point.data_type;
-    switch (type) {
-      case StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT:
-        EXPECT_LT(0, stats_point.data) << "unexpected sample count";
-        break;
-      case StatisticDataType::STATISTICS_DATA_TYPE_AVERAGE:
-        EXPECT_LT(0, stats_point.data) << "unexpected avg";
-        break;
-      case StatisticDataType::STATISTICS_DATA_TYPE_MINIMUM:
-        EXPECT_LT(0, stats_point.data) << "unexpected min";
-        break;
-      case StatisticDataType::STATISTICS_DATA_TYPE_MAXIMUM:
-        EXPECT_LT(0, stats_point.data) << "unexpected max";
-        break;
-      case StatisticDataType::STATISTICS_DATA_TYPE_STDDEV:
-        EXPECT_LT(0, stats_point.data) << "unexpected stddev";
-        break;
-      default:
-        FAIL() << "received unknown statistics type: " << std::dec <<
-          static_cast<unsigned int>(type);
+  const auto received_messages = statistics_listener->GetReceivedMessages();
+
+  EXPECT_EQ(2u, received_messages.size());
+
+  std::set<std::string> received_metrics;
+  for (const auto & msg : received_messages) {
+    received_metrics.insert(msg.metrics_source);
+  }
+  EXPECT_TRUE(received_metrics.find("message_age") != received_metrics.end());
+  EXPECT_TRUE(received_metrics.find("message_period") != received_metrics.end());
+
+  // Check the collected statistics for message period.
+  // Message age statistics will not be calculated because Empty messages
+  // don't have a `header` with timestamp.
+
+  // TODO(prajakta-gokhale): Change Empty message type to something with a `header`,
+  // and have below assertions work for all collectors.
+  for (const auto & msg : received_messages) {
+    if (msg.metrics_source == "message_period") {
+      for (const auto & stats_point : msg.statistics) {
+        const auto type = stats_point.data_type;
+        switch (type) {
+          case StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT:
+            EXPECT_LT(0, stats_point.data) << "unexpected sample count";
+            break;
+          case StatisticDataType::STATISTICS_DATA_TYPE_AVERAGE:
+            EXPECT_LT(0, stats_point.data) << "unexpected avg";
+            break;
+          case StatisticDataType::STATISTICS_DATA_TYPE_MINIMUM:
+            EXPECT_LT(0, stats_point.data) << "unexpected min";
+            break;
+          case StatisticDataType::STATISTICS_DATA_TYPE_MAXIMUM:
+            EXPECT_LT(0, stats_point.data) << "unexpected max";
+            break;
+          case StatisticDataType::STATISTICS_DATA_TYPE_STDDEV:
+            EXPECT_LT(0, stats_point.data) << "unexpected stddev";
+            break;
+          default:
+            FAIL() << "received unknown statistics type: " << std::dec <<
+              static_cast<unsigned int>(type);
+        }
+      }
     }
   }
 }

rclcpp/test/topic_statistics/test_topic_stats_utils.hpp

@@ -18,6 +18,7 @@
 #include <memory>
 #include <mutex>
 #include <string>
+#include <vector>
 
 #include "statistics_msgs/msg/metrics_message.hpp"
 
@@ -89,7 +90,7 @@ class MetricsMessageSubscriber : public rclcpp::Node, public PromiseSetter
   MetricsMessageSubscriber(
     const std::string & name,
     const std::string & topic_name,
-    const int number_of_messages_to_receive = 1)
+    const int number_of_messages_to_receive = 2)
   : rclcpp::Node(name),
     number_of_messages_to_receive_(number_of_messages_to_receive)
   {
@@ -99,18 +100,18 @@ class MetricsMessageSubscriber : public rclcpp::Node, public PromiseSetter
     subscription_ = create_subscription<MetricsMessage,
         std::function<void(MetricsMessage::UniquePtr)>>(
       topic_name,
-      0 /*history_depth*/,
+      10 /*history_depth*/,
       callback);
   }
 
   /**
    * Acquires a mutex in order to get the last message received member.
    * \return the last message received
    */
-  MetricsMessage GetLastReceivedMessage() const
+  std::vector<MetricsMessage> GetReceivedMessages() const
   {
     std::unique_lock<std::mutex> ulock{mutex_};
-    return last_received_message_;
+    return received_messages_;
   }
 
   /**
@@ -132,13 +133,13 @@ class MetricsMessageSubscriber : public rclcpp::Node, public PromiseSetter
   {
     std::unique_lock<std::mutex> ulock{mutex_};
     ++num_messages_received_;
-    last_received_message_ = msg;
+    received_messages_.push_back(msg);
     if (num_messages_received_ >= number_of_messages_to_receive_) {
       PromiseSetter::SetPromise();
     }
   }
 
-  MetricsMessage last_received_message_;
+  std::vector<MetricsMessage> received_messages_;
   rclcpp::Subscription<MetricsMessage>::SharedPtr subscription_;
   mutable std::mutex mutex_;
   std::atomic<int> num_messages_received_{0};