Skip to content

Commit

Permalink
Add some more helper functions
Browse files Browse the repository at this point in the history 
Signed-off-by: Michael Carroll <[email protected]>
  • Loading branch information
@mjcarroll
mjcarroll committed Nov 2, 2023
1 parent def3c10 commit 03088cd
Showing 1 changed file with 114 additions and 137 deletions.
251 changes: 114 additions & 137 deletions src/cmd/gz_TEST.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -60,16 +60,42 @@ void topicCB(const msgs::StringMsg &_msg)
}

//////////////////////////////////////////////////
std::string custom_exec_str(const std::vector<std::string> &_args)
struct ProcessOutput
{
int code {-1};
std::string cout;
std::string cerr;
};

//////////////////////////////////////////////////
ProcessOutput custom_exec_str(const std::vector<std::string> &_args)
{
auto fullArgs = std::vector<std::string>{kGzExe};
std::copy(std::begin(_args), std::end(_args), std::back_inserter(fullArgs));
fullArgs.push_back("--force-version");
fullArgs.push_back(kGzVersion);
fullArgs.emplace_back("--force-version");
fullArgs.emplace_back(kGzVersion);
auto proc = gz::utils::Subprocess(fullArgs);
proc.Join();
auto return_code = proc.Join();
return {return_code, proc.Stdout(), proc.Stderr()};
}

//////////////////////////////////////////////////
std::optional<ProcessOutput>
exec_with_retry(const std::vector<std::string> &_args,
const std::function<bool(ProcessOutput)> &_condition)
{
bool success = false;
int retries = 0;

return proc.Stdout();
while (!success && retries++ < 10)
{
auto output = custom_exec_str(_args);
success = _condition(output);
if (success)
return output;
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}
return {};
}

//////////////////////////////////////////////////
Expand All @@ -78,19 +104,12 @@ TEST(gzTest, GZ_UTILS_TEST_DISABLED_ON_MAC(TopicList))
{
auto proc = gz::utils::Subprocess({kTwoProcsPublisherExe, g_partition});

unsigned int retries = 0u;
bool topicFound = false;
std::string output;
auto output = exec_with_retry({"topic", "-l"},
[](auto output){
return output.cout == "/foo\n";
});

while (!topicFound && retries++ < 10u)
{
output = custom_exec_str({"topic", "-l"});
topicFound = output == "/foo\n";
std::this_thread::sleep_for(std::chrono::milliseconds(300));
break;
}

EXPECT_TRUE(topicFound);
EXPECT_TRUE(output);
}

//////////////////////////////////////////////////
Expand All @@ -100,21 +119,16 @@ TEST(gzTest, TopicInfo)
// Launch a new publisher process that advertises a topic.
auto proc = gz::utils::Subprocess({kTwoProcsPublisherExe, g_partition});

unsigned int retries = 0u;
bool infoFound = false;
std::string output;
auto output = exec_with_retry({"topic", "-t", "/foo", "-i"},
[](auto output){
return output.cout.size() > 50u;
});

while (!infoFound && retries++ < 10u)
{
output = custom_exec_str({"topic", "-t", "/foo", "-i"});
infoFound = output.size() > 50u;
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}

EXPECT_TRUE(infoFound) << "OUTPUT["
<< output << "] Size[" << output.size()
ASSERT_TRUE(output) << "OUTPUT["
<< output->cout << "] Size[" << output->cout.size()
<< "]. Expected Size=50" << std::endl;
EXPECT_TRUE(output.find("gz.msgs.Vector3d") != std::string::npos);
EXPECT_TRUE(output->cout.find("gz.msgs.Vector3d") != std::string::npos);
}

//////////////////////////////////////////////////
Expand All @@ -125,17 +139,12 @@ TEST(gzTest, ServiceList)
// Launch a new responser process that advertises a service.
auto proc = gz::utils::Subprocess({kTwoProcsSrvCallReplierExe, g_partition});

unsigned int retries = 0u;
bool serviceFound = false;
auto output = exec_with_retry({"service", "-l"},
[](auto output){
return output.cout == "/foo\n";
});

while (!serviceFound && retries++ < 10u)
{
std::string output = custom_exec_str({"service", "-l"});
serviceFound = output == "/foo\n";
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}

EXPECT_TRUE(serviceFound);
EXPECT_TRUE(output);
}

//////////////////////////////////////////////////
Expand All @@ -145,19 +154,13 @@ TEST(gzTest, ServiceInfo)
// Launch a new responser process that advertises a service.
auto proc = gz::utils::Subprocess({kTwoProcsSrvCallReplierExe, g_partition});

unsigned int retries = 0u;
bool infoFound = false;
std::string output;
auto output = exec_with_retry({"service", "-s", "/foo", "-i"},
[](auto output){
return output.cout.size() > 50u;
});

while (!infoFound && retries++ < 10u)
{
output = custom_exec_str({"service", "-s", "/foo", "-i"});
infoFound = output.size() > 50u;
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}

EXPECT_TRUE(infoFound);
EXPECT_TRUE(output.find("gz.msgs.Int32") != std::string::npos);
ASSERT_TRUE(output);
EXPECT_TRUE(output->cout.find("gz.msgs.Int32") != std::string::npos);
}

//////////////////////////////////////////////////
Expand All @@ -175,17 +178,12 @@ TEST(gzTest, TopicListSameProc)
EXPECT_TRUE(pub);
EXPECT_TRUE(pub.Publish(msg));

unsigned int retries = 0u;
bool topicFound = false;

while (!topicFound && retries++ < 10u)
{
std::string output = custom_exec_str({"topic", "-l"});
topicFound = output == "/foo\n";
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}
auto output = exec_with_retry({"topic", "-l"},
[](auto output){
return output.cout == "/foo\n";
});

EXPECT_TRUE(topicFound);
EXPECT_TRUE(output);
}

//////////////////////////////////////////////////
Expand All @@ -203,19 +201,13 @@ TEST(gzTest, TopicInfoSameProc)
EXPECT_TRUE(pub);
EXPECT_TRUE(pub.Publish(msg));

unsigned int retries = 0u;
bool infoFound = false;
std::string output;
auto output = exec_with_retry({"topic", "-t", "/foo", "-i"},
[](auto output){
return output.cout.size() > 50u;
});

while (!infoFound && retries++ < 10u)
{
output = custom_exec_str({"topic", "-t", "/foo", "-i"});
infoFound = output.size() > 50u;
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}

EXPECT_TRUE(infoFound);
EXPECT_TRUE(output.find("gz.msgs.Vector3d") != std::string::npos);
ASSERT_TRUE(output);
EXPECT_TRUE(output->cout.find("gz.msgs.Vector3d") != std::string::npos);
}

//////////////////////////////////////////////////
Expand All @@ -225,17 +217,12 @@ TEST(gzTest, ServiceListSameProc)
transport::Node node;
EXPECT_TRUE(node.Advertise("/foo", srvEcho));

unsigned int retries = 0u;
bool serviceFound = false;

while (!serviceFound && retries++ < 10u)
{
std::string output = custom_exec_str({"service", "-l"});
serviceFound = output == "/foo\n";
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}
auto output = exec_with_retry({"service", "-l"},
[](auto output){
return output.cout == "/foo\n";
});

EXPECT_TRUE(serviceFound);
EXPECT_TRUE(output);
}

//////////////////////////////////////////////////
Expand All @@ -245,22 +232,15 @@ TEST(gzTest, ServiceInfoSameProc)
transport::Node node;
EXPECT_TRUE(node.Advertise("/foo", srvEcho));

unsigned int retries = 0u;
bool infoFound = false;
std::string output;
auto output = exec_with_retry({"service", "-s", "/foo", "-i"},
[](auto output){
return output.cout.size() > 50u;
});

while (!infoFound && retries++ < 10u)
{
output = custom_exec_str({"service", "-s", "/foo", "-i"});
infoFound = output.size() > 50u;
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}

EXPECT_TRUE(infoFound);
EXPECT_TRUE(output.find("gz.msgs.Int32") != std::string::npos);
ASSERT_TRUE(output);
EXPECT_TRUE(output->cout.find("gz.msgs.Int32") != std::string::npos);
}


//////////////////////////////////////////////////
/// \brief Check 'gz topic -p' to send a message.
TEST(gzTest, TopicPublish)
Expand All @@ -269,47 +249,45 @@ TEST(gzTest, TopicPublish)
g_topicCBStr = "bad_value";
EXPECT_TRUE(node.Subscribe("/bar", topicCB));

std::string output;

unsigned int retries = 0;
while (g_topicCBStr != "good_value" && retries++ < 200u)
while (retries++ < 100u)
{
// Send on alternating retries
if (retries % 2)
{
output = custom_exec_str({"topic",
"-t", "/bar",
"-m", "gz_msgs.StringMsg",
"-p", R"('data: "good_value"')"});
EXPECT_TRUE(output.empty()) << output;
}
std::this_thread::sleep_for(std::chrono::milliseconds(30));
auto output = custom_exec_str({"topic",
"-t", "/bar",
"-m", "gz.msgs.StringMsg",
"-p", "data: \"good_value\""});

EXPECT_TRUE(output.cout.empty());
EXPECT_TRUE(output.cerr.empty());
if (g_topicCBStr == "good_value")
break;
std::this_thread::sleep_for(std::chrono::milliseconds(60));
}
EXPECT_EQ(g_topicCBStr, "good_value");

// Try to publish a message not included in Gazebo Messages.
std::string error = "Unable to create message of type";
output = custom_exec_str({"topic",
auto output = custom_exec_str({"topic",
"-t", "/bar",
"-m", "gz_msgs.__bad_msg_type",
"-p", R"('data:"good_value"')"});
EXPECT_EQ(output.compare(0, error.size(), error), 0);
"-m", "gz.msgs.__bad_msg_type",
"-p", R"(data: "good_value")"});
EXPECT_EQ(output.cerr.compare(0, error.size(), error), 0);

// Try to publish using an incorrect topic name.
error = "Topic [/] is not valid";
output = custom_exec_str({"topic",
"-t", "/",
"-m", "gz_msgs.StringMsg",
"-p", R"('data: "good_value"')"});
EXPECT_EQ(output.compare(0, error.size(), error), 0) << output;
"-m", "gz.msgs.StringMsg",
"-p", R"(data: "good_value")"});
EXPECT_EQ(output.cerr.compare(0, error.size(), error), 0);

// Try to publish using an incorrect number of arguments.
error = "The following argument was not expected: wrong_topic";
output = custom_exec_str({"topic",
"-t", "/", "wrong_topic",
"-m", "gz_msgs.StringMsg",
"-p", R"('data: "good_value"')"});
EXPECT_EQ(output.compare(0, error.size(), error), 0) << output;
"-m", "gz.msgs.StringMsg",
"-p", R"(data: "good_value")"});
EXPECT_EQ(output.cerr.compare(0, error.size(), error), 0);
}

//////////////////////////////////////////////////
Expand All @@ -327,13 +305,13 @@ TEST(gzTest, ServiceRequest)
msg.set_data(10);

// Check the 'gz service -r' command.
std::string output = custom_exec_str({"service",
auto output = custom_exec_str({"service",
"-s", service,
"--reqtype", "gz_msgs.Int32",
"--reptype", "gz_msgs.Int32",
"--timeout", "1000",
"--req", "'data: " + value + "'"});
ASSERT_EQ(output, "data: " + value + "\n\n");
"--req", "data: " + value});
ASSERT_EQ(output.cout, "data: " + value + "\n\n");
}

//////////////////////////////////////////////////
Expand All @@ -343,12 +321,12 @@ TEST(gzTest, TopicEcho)
// Launch a new publisher process that advertises a topic.
auto proc = gz::utils::Subprocess({kTwoProcsPublisherExe, g_partition});

std::string output = custom_exec_str(
auto output = custom_exec_str(
{"topic", "-e", "-t", "/foo", "-d", "1.5"});

EXPECT_TRUE(output.find("x: 1") != std::string::npos);
EXPECT_TRUE(output.find("y: 2") != std::string::npos);
EXPECT_TRUE(output.find("z: 3") != std::string::npos);
EXPECT_TRUE(output.cout.find("x: 1") != std::string::npos);
EXPECT_TRUE(output.cout.find("y: 2") != std::string::npos);
EXPECT_TRUE(output.cout.find("z: 3") != std::string::npos);
}

//////////////////////////////////////////////////
Expand All @@ -359,32 +337,31 @@ TEST(gzTest, TopicEchoNum)
// Launch a new publisher process that advertises a topic.
auto proc = gz::utils::Subprocess({kTwoProcsPublisherExe, g_partition});

std::string output = custom_exec_str(
auto output = custom_exec_str(
{"topic", "-e", "-t", "/foo", "-n", "2"});

size_t pos = output.find("x: 1");
size_t pos = output.cout.find("x: 1");
EXPECT_TRUE(pos != std::string::npos);
pos = output.find("x: 1", pos + 4);
pos = output.cout.find("x: 1", pos + 4);
EXPECT_TRUE(pos != std::string::npos);
pos = output.find("x: 1", pos + 4);
pos = output.cout.find("x: 1", pos + 4);
EXPECT_TRUE(pos == std::string::npos);

pos = output.find("y: 2");
pos = output.cout.find("y: 2");
EXPECT_TRUE(pos != std::string::npos);
pos = output.find("y: 2", pos + 4);
pos = output.cout.find("y: 2", pos + 4);
EXPECT_TRUE(pos != std::string::npos);
pos = output.find("y: 2", pos + 4);
pos = output.cout.find("y: 2", pos + 4);
EXPECT_TRUE(pos == std::string::npos);

pos = output.find("z: 3");
pos = output.cout.find("z: 3");
EXPECT_TRUE(pos != std::string::npos);
pos = output.find("z: 3", pos + 4);
pos = output.cout.find("z: 3", pos + 4);
EXPECT_TRUE(pos != std::string::npos);
pos = output.find("z: 3", pos + 4);
pos = output.cout.find("z: 3", pos + 4);
EXPECT_TRUE(pos == std::string::npos);
}


/// Main
int main(int argc, char **argv)
{
Expand Down

0 comments on commit 03088cd

Please sign in to comment.