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[backport foxy] More reliable topic remapping test (#456) #817

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Jul 9, 2021
Merged

[backport foxy] More reliable topic remapping test (#456) #817

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24 changes: 13 additions & 11 deletions rosbag2_transport/test/rosbag2_transport/test_play_topic_remap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,6 @@
#include <utility>
#include <vector>


#include "rosbag2_test_common/subscription_manager.hpp"

#include "rosbag2_transport/rosbag2_transport.hpp"
Expand All @@ -32,14 +31,13 @@

#include "rosbag2_play_test_fixture.hpp"


TEST_F(RosBag2PlayTestFixture, recorded_message_is_played_on_remapped_topic) {
// test constants
const std::string original_topic = "/topic_before_remap";
const std::string remapped_topic = "/topic_after_remap";
const int32_t test_value = 42;
const int64_t timestamp_in_milliseconds = 700;
const size_t expected_number_of_messages = 1;
const int64_t dt_in_milliseconds = 100;
const size_t expected_number_of_outgoing_messages = 5;
play_options_.topic_remapping_options =
{"--ros-args", "--remap", "topic_before_remap:=topic_after_remap"};

Expand All @@ -50,26 +48,30 @@ TEST_F(RosBag2PlayTestFixture, recorded_message_is_played_on_remapped_topic) {
{original_topic, "test_msgs/BasicTypes", "", ""}
};

std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages =
{serialize_test_message(original_topic, timestamp_in_milliseconds, primitive_message1), };

std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages;
for (auto i = 1u; i <= expected_number_of_outgoing_messages; ++i) {
messages.push_back(
serialize_test_message(original_topic, dt_in_milliseconds * i, primitive_message1));
}
auto prepared_mock_reader = std::make_unique<MockSequentialReader>();
prepared_mock_reader->prepare(messages, topic_types);
reader_ = std::make_unique<rosbag2_cpp::Reader>(std::move(prepared_mock_reader));

sub_->add_subscription<test_msgs::msg::BasicTypes>(remapped_topic, expected_number_of_messages);
// We can't reliably test for an exact number of messages to arrive.
// Therefore, we test that at least one message is being received over the remapped topic.
sub_->add_subscription<test_msgs::msg::BasicTypes>(
remapped_topic, 1u);
auto await_received_messages = sub_->spin_subscriptions();

rosbag2_transport::Rosbag2Transport rosbag2_transport(reader_, writer_, info_);

rosbag2_transport.play(
storage_options_, play_options_);
rosbag2_transport.play(storage_options_, play_options_);

await_received_messages.get();

auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::BasicTypes>(
remapped_topic);
EXPECT_THAT(replayed_test_primitives, SizeIs(Ge(expected_number_of_messages)));
EXPECT_FALSE(replayed_test_primitives.empty());
EXPECT_THAT(
replayed_test_primitives,
Each(Pointee(Field(&test_msgs::msg::BasicTypes::int32_value, test_value))));
Expand Down