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Make the event skipping more generic. #1197

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Nov 14, 2024
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Make the event skipping more generic. #1197

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125 changes: 80 additions & 45 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,8 +43,6 @@ constexpr seconds LIVELINESS_LEASE_DURATION_IN_S = 1s;
constexpr seconds DEADLINE_PERIOD_IN_S = 2s;
constexpr seconds MAX_WAIT_PER_TESTCASE = 10s;

#define EXPECT_OK(varname) EXPECT_EQ(varname, RCL_RET_OK) << rcl_get_error_string().str

struct TestIncompatibleQosEventParams
{
std::string testcase_name;
Expand Down Expand Up @@ -122,10 +120,14 @@ class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEven

// init subscription
ret = setup_subscription(sub_qos_profile);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
if (ret != RCL_RET_OK) {
rcl_ret_t fail_ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(fail_ret, RCL_RET_OK) << rcl_get_error_string().str;
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
}
}

void setup_publisher_subscription_events(
rcl_ret_t setup_publisher_subscription_events(
const rcl_publisher_event_type_t & pub_event_type,
const rcl_subscription_event_type_t & sub_event_type)
{
Expand All @@ -134,22 +136,35 @@ class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEven
// init publisher events
publisher_event = rcl_get_zero_initialized_event();
ret = rcl_publisher_event_init(&publisher_event, &publisher, pub_event_type);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
if (ret != RCL_RET_OK) {
return ret;
}

// init subscription event
subscription_event = rcl_get_zero_initialized_event();
ret = rcl_subscription_event_init(&subscription_event, &subscription, sub_event_type);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
if (ret != RCL_RET_OK) {
rcl_ret_t fail_ret = rcl_event_fini(&publisher_event);
(void)fail_ret;
return ret;
}

return RCL_RET_OK;
}

void setup_publisher_subscription_and_events_and_assert_discovery(
rcl_ret_t setup_publisher_subscription_and_events_and_assert_discovery(
const rcl_publisher_event_type_t & pub_event_type,
const rcl_subscription_event_type_t & sub_event_type)
{
rcl_ret_t ret;

setup_publisher_subscription(default_qos_profile, default_qos_profile);
setup_publisher_subscription_events(pub_event_type, sub_event_type);
ret = setup_publisher_subscription_events(pub_event_type, sub_event_type);
if (ret != RCL_RET_OK) {
tear_down_publisher_subscription();
return ret;
}

rcl_ret_t ret;
// wait for discovery, time out after 10s
static const size_t max_iterations = 1000;
static const auto wait_period = 10ms;
Expand All @@ -158,16 +173,30 @@ class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEven
size_t subscription_count = 0;
size_t publisher_count = 0;
ret = rcl_subscription_get_publisher_count(&subscription, &publisher_count);
EXPECT_OK(ret);
if (ret != RCL_RET_OK) {
tear_down_publisher_subscription_events();
tear_down_publisher_subscription();
return ret;
}
ret = rcl_publisher_get_subscription_count(&publisher, &subscription_count);
EXPECT_OK(ret);
if (ret != RCL_RET_OK) {
tear_down_publisher_subscription_events();
tear_down_publisher_subscription();
return ret;
}
if (subscription_count && publisher_count) {
subscribe_success = true;
break;
}
std::this_thread::sleep_for(wait_period);
}
ASSERT_TRUE(subscribe_success) << "Publisher/Subscription discovery timed out";
if (!subscribe_success) {
tear_down_publisher_subscription_events();
tear_down_publisher_subscription();
return RCL_RET_TIMEOUT;
}

return RCL_RET_OK;
}

void tear_down_publisher_subscription()
Expand Down Expand Up @@ -312,7 +341,7 @@ wait_for_msgs_and_events(
}
}
ret = rcl_wait_set_fini(&wait_set);
EXPECT_OK(ret);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
return ret;
}

Expand Down Expand Up @@ -376,19 +405,21 @@ conditional_wait_for_msgs_and_events(
*/
TEST_F(TestEventFixture, test_pubsub_no_deadline_missed)
{
if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
GTEST_SKIP();
}

setup_publisher_subscription_and_events_and_assert_discovery(
rcl_ret_t ret;
ret = setup_publisher_subscription_and_events_and_assert_discovery(
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
if (ret == RCL_RET_UNSUPPORTED) {
// This RMW doesn't support deadline, so skip the test.
rcl_reset_error();
GTEST_SKIP();
}
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
tear_down_publisher_subscription_events();
tear_down_publisher_subscription();
});
rcl_ret_t ret;

// publish message to topic
const char * test_string = "testing";
Expand Down Expand Up @@ -448,19 +479,21 @@ TEST_F(TestEventFixture, test_pubsub_no_deadline_missed)
*/
TEST_F(TestEventFixture, test_pubsub_deadline_missed)
{
if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
GTEST_SKIP();
}

setup_publisher_subscription_and_events_and_assert_discovery(
rcl_ret_t ret;
ret = setup_publisher_subscription_and_events_and_assert_discovery(
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
if (ret == RCL_RET_UNSUPPORTED) {
// This RMW doesn't support deadline, so skip the test.
rcl_reset_error();
GTEST_SKIP();
}
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
tear_down_publisher_subscription_events();
tear_down_publisher_subscription();
});
rcl_ret_t ret;

// publish message to topic
const char * test_string = "testing";
Expand Down Expand Up @@ -528,19 +561,21 @@ TEST_F(TestEventFixture, test_pubsub_deadline_missed)
*/
TEST_F(TestEventFixture, test_pubsub_liveliness_kill_pub)
{
if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
GTEST_SKIP();
}

setup_publisher_subscription_and_events_and_assert_discovery(
rcl_ret_t ret;
ret = setup_publisher_subscription_and_events_and_assert_discovery(
RCL_PUBLISHER_LIVELINESS_LOST,
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
if (ret == RCL_RET_UNSUPPORTED) {
// This RMW doesn't support deadline, so skip the test.
rcl_reset_error();
GTEST_SKIP();
}
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
tear_down_publisher_subscription_events();
tear_down_publisher_subscription();
});
rcl_ret_t ret;

// publish message to topic
const char * test_string = "testing";
Expand Down Expand Up @@ -612,21 +647,22 @@ TEST_F(TestEventFixture, test_pubsub_liveliness_kill_pub)
*/
TEST_P(TestEventFixture, test_pubsub_incompatible_qos)
{
if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
GTEST_SKIP();
}

const auto & input = GetParam();
const auto & qos_policy_kind = input.qos_policy_kind;
const auto & publisher_qos_profile = input.publisher_qos_profile;
const auto & subscription_qos_profile = input.subscription_qos_profile;
const auto & error_msg = input.error_msg;

rmw_qos_compatibility_type_t compat;
rmw_ret_t rmw_ret = rmw_qos_profile_check_compatible(
publisher_qos_profile, subscription_qos_profile, &compat, nullptr, 0);
ASSERT_EQ(rmw_ret, RMW_RET_OK);
if (compat == RMW_QOS_COMPATIBILITY_OK) {
// If the underlying middleware allows this pub/sub pair to communicate, skip this test.
GTEST_SKIP();
}

setup_publisher_subscription(publisher_qos_profile, subscription_qos_profile);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
tear_down_publisher_subscription();
});
setup_publisher_subscription_events(
RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
Expand Down Expand Up @@ -720,10 +756,6 @@ TEST_F(TestEventFixture, test_bad_event_ini)
*/
TEST_F(TestEventFixture, test_event_is_valid)
{
if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
GTEST_SKIP();
}

EXPECT_FALSE(rcl_event_is_valid(nullptr));
EXPECT_TRUE(rcl_error_is_set());
rcl_reset_error();
Expand All @@ -741,6 +773,11 @@ TEST_F(TestEventFixture, test_event_is_valid)

rcl_ret_t ret = rcl_publisher_event_init(
&publisher_event_test, &publisher, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
if (ret == RCL_RET_UNSUPPORTED) {
// This middleware doesn't support DEADLINE, so skip the test.
rcl_reset_error();
GTEST_SKIP();
}

ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
Expand Down Expand Up @@ -815,8 +852,6 @@ TEST_F(TestEventFixture, test_sub_message_lost_event)
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
});

EXPECT_EQ(ret, RCL_RET_OK);

// Can't reproduce reliably this event
// Test that take_event is able to read the configured event
rmw_message_lost_status_t message_lost_status;
Expand Down