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Test SubscriptionOptions::ignore_local_publications #192

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merged 5 commits into from
Jul 2, 2021
Merged

Test SubscriptionOptions::ignore_local_publications #192

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4d71ca1
Test SubscriptionOptions::ignore_local_publications
jamoralp Jun 2, 2021
5317ae5
Address requested changes
jamoralp Jun 3, 2021
254b690
Modify test for unique pub and wait_set
jamoralp Jun 7, 2021
f411483
Check condition to not be NULL
jamoralp Jun 7, 2021
1862834
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jamoralp Jun 8, 2021
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73 changes: 73 additions & 0 deletions test_rmw_implementation/test/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -524,6 +524,79 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_with_info_with_b
sub->implementation_identifier = implementation_identifier;
}

TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), ignore_local_publications) {
rmw_ret_t ret;
bool taken = false;

// Create publisher
rmw_publisher_options_t pub_options = rmw_get_default_publisher_options();
rmw_publisher_t * pub = rmw_create_publisher(node, ts, topic_name, &qos_profile, &pub_options);
ASSERT_NE(nullptr, pub) << rmw_get_error_string().str;

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// Create subscription with ignore_local_publications = true
rmw_subscription_options_t sub_options_ignorelocal = rmw_get_default_subscription_options();
sub_options_ignorelocal.ignore_local_publications = true;
rmw_subscription_t * sub_ignorelocal =
rmw_create_subscription(node, ts, topic_name, &qos_profile, &sub_options_ignorelocal);
ASSERT_NE(nullptr, sub_ignorelocal) << rmw_get_error_string().str;

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size_t subscription_count = 0u;
SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
ret = rmw_publisher_count_matched_subscriptions(pub, &subscription_count);
if (RMW_RET_OK == ret && 2u == subscription_count) { // Early return on failure.
break;
}
}

// Roundtrip message from publisher to both subscriptions
test_msgs__msg__BasicTypes original_message{};
ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&original_message));
original_message.bool_value = true;
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original_message.char_value = 'k';
original_message.float32_value = 3.14159f;
rmw_publisher_allocation_t * null_allocation_p{nullptr};
rmw_subscription_allocation_t * null_allocation_s{nullptr};

// ignore_local_publications = true
{
ret = rmw_publish(pub, &original_message, null_allocation_p);
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;

test_msgs__msg__BasicTypes output_message{};
ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&output_message));
ret = rmw_take(sub_ignorelocal, &output_message, &taken, null_allocation_s);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
EXPECT_FALSE(taken);
test_msgs__msg__BasicTypes__fini(&output_message);
}

// ignore_local_publications = false
{
ret = rmw_publish(pub, &original_message, null_allocation_p);
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;

test_msgs__msg__BasicTypes output_message{};
ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&output_message));

std::chrono::milliseconds take_delay(100);
SLEEP_AND_RETRY_UNTIL(take_delay, take_delay * 10) {
ret = rmw_take(sub, &output_message, &taken, null_allocation_s);
if (RMW_RET_OK == ret && taken) {
break;
}
}
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EXPECT_TRUE(taken);
EXPECT_EQ(original_message, output_message);
test_msgs__msg__BasicTypes__fini(&output_message);
}

test_msgs__msg__BasicTypes__fini(&original_message);
ret = rmw_destroy_publisher(node, pub);
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
ret = rmw_destroy_subscription(node, sub_ignorelocal);
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
}

TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_sequence) {
size_t count = 1u;
size_t taken = 10u; // Non-zero value to check variable update
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