Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Omnibus fixes for running tests with Connext. #2684

Open
wants to merge 5 commits into
base: rolling
Choose a base branch
from
+93 −21
Open

Omnibus fixes for running tests with Connext. #2684

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
08c60d2
Omnibus fixes for running tests with Connext.
clalancette Nov 22, 2024
3a45897
Fixes for executors.
clalancette Nov 25, 2024
ceb7e76
One more fix for services.
clalancette Nov 25, 2024
309cd85
More fixes for service_introspection.
clalancette Nov 25, 2024
dbf19d1
More fixes for introspection.
clalancette Nov 25, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 14 additions & 0 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -714,6 +714,13 @@ TYPED_TEST(TestExecutors, notifyTwiceWhileSpinning)
sub1_msg_count++;
});

// Wait for the subscription to be matched
size_t tries = 10000;
while (this->publisher->get_subscription_count() < 2 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(this->publisher->get_subscription_count(), 2);

// Publish a message and verify it's received
this->publisher->publish(test_msgs::msg::Empty());
auto start = std::chrono::steady_clock::now();
Expand All @@ -731,6 +738,13 @@ TYPED_TEST(TestExecutors, notifyTwiceWhileSpinning)
sub2_msg_count++;
});

// Wait for the subscription to be matched
tries = 10000;
while (this->publisher->get_subscription_count() < 3 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(this->publisher->get_subscription_count(), 3);

// Publish a message and verify it's received by both subscriptions
this->publisher->publish(test_msgs::msg::Empty());
start = std::chrono::steady_clock::now();
Expand Down
2 changes: 1 addition & 1 deletion rclcpp/test/rclcpp/test_client_common.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -431,7 +431,7 @@ TYPED_TEST(TestAllClientTypesWithServer, client_qos)

rclcpp::ServicesQoS qos_profile;
qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
rclcpp::Duration duration(std::chrono::nanoseconds(1));
rclcpp::Duration duration(std::chrono::milliseconds(1));
qos_profile.deadline(duration);
qos_profile.lifespan(duration);
qos_profile.liveliness_lease_duration(duration);
Expand Down
2 changes: 1 addition & 1 deletion rclcpp/test/rclcpp/test_generic_service.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ TEST_F(TestGenericService, rcl_service_request_subscription_get_actual_qos_error
TEST_F(TestGenericService, generic_service_qos) {
rclcpp::ServicesQoS qos_profile;
qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
rclcpp::Duration duration(std::chrono::nanoseconds(1));
rclcpp::Duration duration(std::chrono::milliseconds(1));
qos_profile.deadline(duration);
qos_profile.lifespan(duration);
qos_profile.liveliness_lease_duration(duration);
Expand Down
2 changes: 1 addition & 1 deletion rclcpp/test/rclcpp/test_service.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -335,7 +335,7 @@ TEST_F(TestService, rcl_service_request_subscription_get_actual_qos_error) {
TEST_F(TestService, server_qos) {
rclcpp::ServicesQoS qos_profile;
qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
rclcpp::Duration duration(std::chrono::nanoseconds(1));
rclcpp::Duration duration(std::chrono::milliseconds(1));
qos_profile.deadline(duration);
qos_profile.lifespan(duration);
qos_profile.liveliness_lease_duration(duration);
Expand Down
94 changes: 76 additions & 18 deletions rclcpp/test/rclcpp/test_service_introspection.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -92,9 +92,16 @@ TEST_F(TestServiceIntrospection, service_introspection_nominal)
request->set__int64_value(42);

client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);

// Wait for the introspection to attach to our subscription
size_t tries = 1000;
while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 2u);

auto future = client->async_send_request(request);
ASSERT_EQ(
Expand Down Expand Up @@ -163,9 +170,11 @@ TEST_F(TestServiceIntrospection, service_introspection_nominal)
TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
{
client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);

ASSERT_EQ(sub->get_publisher_count(), 0);

auto request = std::make_shared<BasicTypes::Request>();
request->set__bool_value(true);
Expand All @@ -183,9 +192,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
events.clear();

client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);

// Wait for the introspection to attach to our subscription
size_t tries = 1000;
while (this->sub->get_publisher_count() < 1 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 1u);

future = client->async_send_request(request);
ASSERT_EQ(
Expand All @@ -200,9 +216,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
events.clear();

client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);

// Wait for the introspection to attach to our subscription
tries = 1000;
while (this->sub->get_publisher_count() < 1 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 1u);

future = client->async_send_request(request);
ASSERT_EQ(
Expand All @@ -217,9 +240,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
events.clear();

client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);

// Wait for the introspection to attach to our subscription
tries = 1000;
while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 2u);

future = client->async_send_request(request);
ASSERT_EQ(
Expand All @@ -235,9 +265,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_content)
{
client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);

// Wait for the introspection to attach to our subscription
size_t tries = 1000;
while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 2u);

auto request = std::make_shared<BasicTypes::Request>();
request->set__bool_value(true);
Expand All @@ -259,9 +296,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_cont
events.clear();

client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);

// Wait for the introspection to attach to our subscription
tries = 1000;
while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 2u);

future = client->async_send_request(request);
ASSERT_EQ(
Expand Down Expand Up @@ -292,9 +336,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_cont
events.clear();

client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);

// Wait for the introspection to attach to our subscription
tries = 1000;
while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 2u);

future = client->async_send_request(request);
ASSERT_EQ(
Expand Down Expand Up @@ -325,9 +376,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_cont
events.clear();

client->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
service->configure_introspection(
node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);

// Wait for the introspection to attach to our subscription
tries = 1000;
while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
ASSERT_EQ(sub->get_publisher_count(), 2u);

future = client->async_send_request(request);
ASSERT_EQ(
Expand Down