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Merge pull request #4 from aws-robotics/qos-test
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Qos test
Add unit tests for testing rcl_wait() and rcl_take_event() for liveliness and deadline events.

New test can be run with:

`RMW_IMPLEMENTATION=rmw_connext_cpp build/rcl/test/test_events__rmw_connext_cpp`
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@ross-desmond
ross-desmond authored Apr 3, 2019
2 parents ceb2579 + 31f7c42 commit 0c09e7b
Showing 1 changed file with 92 additions and 43 deletions.
135 changes: 92 additions & 43 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,9 @@

#include "osrf_testing_tools_cpp/scope_exit.hpp"

constexpr int DISCOVERY_WAIT_TIME_IN_MS = 1000;
constexpr int LIVELINESS_LEASE_DURATION_IN_MS = 1000;
constexpr int DEADLINE_PERIOD_IN_MS = 1000;

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
Expand Down Expand Up @@ -74,7 +77,10 @@ class CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
// init publisher
publisher = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
publisher_options.qos.deadline = rmw_time_t {1, 0};
publisher_options.qos.deadline = rmw_time_t {DEADLINE_PERIOD_IN_MS / 1000, 0};
publisher_options.qos.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
publisher_options.qos.liveliness_lease_duration =
rmw_time_t {LIVELINESS_LEASE_DURATION_IN_MS / 1000, 0};
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

Expand All @@ -86,7 +92,10 @@ class CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
// init subscription
subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
subscription_options.qos.deadline = rmw_time_t {1, 0};
subscription_options.qos.deadline = rmw_time_t {DEADLINE_PERIOD_IN_MS / 1000, 0};
subscription_options.qos.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
subscription_options.qos.liveliness_lease_duration =
rmw_time_t {LIVELINESS_LEASE_DURATION_IN_MS / 1000, 0};
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

Expand All @@ -96,7 +105,7 @@ class CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void TearDown()
void TearDownPubSub()
{
rcl_ret_t ret;

Expand All @@ -111,6 +120,11 @@ class CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test

ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void TearDown()
{
rcl_ret_t ret;

ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
Expand Down Expand Up @@ -207,19 +221,22 @@ wait_for_msgs_and_events(
}

/*
* Basic test of publisher and subscriber liveliness events
* Basic test of publisher and subscriber liveliness events, with publisher killed
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness)
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_kill_pub)
{
// initialize publisher and subscriber
SetUpPubSub(RCL_PUBLISHER_LIVELINESS_LOST, RCL_SUBSCRIPTION_LIVELINESS_CHANGED);

// wait for discovery
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(500));
std::this_thread::sleep_for(std::chrono::milliseconds(DISCOVERY_WAIT_TIME_IN_MS));

rcl_ret_t ret;

// publish message to topic
const char * test_string = "testing";
{
test_msgs__msg__Primitives msg;
Expand All @@ -230,12 +247,23 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// kill the publisher
ret = rcl_event_fini(&publisher_event);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// wait for lease duration to expire
std::this_thread::sleep_for(std::chrono::milliseconds(LIVELINESS_LEASE_DURATION_IN_MS + 500));

// wait for events
bool msg_ready, subscription_event_ready, publisher_event_ready;
ASSERT_TRUE(wait_for_msgs_and_events(&subscription, &subscription_event,
&publisher_event, context_ptr, 1, 1000, msg_ready, subscription_event_ready,
publisher_event_ready));
ASSERT_TRUE(wait_for_msgs_and_events(&subscription, &subscription_event, nullptr,
context_ptr, 1, 1000, msg_ready, subscription_event_ready, publisher_event_ready));

if (msg_ready) {
// test that the message published to topic is as expected
EXPECT_TRUE(msg_ready);
{
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
Expand All @@ -246,41 +274,45 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness)
EXPECT_EQ(std::string(test_string), std::string(msg.string_value.data, msg.string_value.size));
}

ASSERT_TRUE(subscription_event_ready);
if (subscription_event_ready) {
// test subscriber/datareader liveliness changed status
EXPECT_TRUE(subscription_event_ready);
{
rmw_liveliness_changed_status_t liveliness_status;
ret = rcl_take_event(&subscription_event, &liveliness_status);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(liveliness_status.alive_count, 1);
EXPECT_EQ(liveliness_status.alive_count_change, 1);
EXPECT_EQ(liveliness_status.alive_count, 0);
EXPECT_EQ(liveliness_status.alive_count_change, 0);
EXPECT_EQ(liveliness_status.not_alive_count, 0);
EXPECT_EQ(liveliness_status.not_alive_count_change, 0);
}

ASSERT_TRUE(publisher_event_ready);
if (publisher_event_ready) {
rmw_liveliness_lost_status_t liveliness_status;
ret = rcl_take_event(&publisher_event, &liveliness_status);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(liveliness_status.total_count, 0);
EXPECT_EQ(liveliness_status.total_count_change, 0);
}
// test that the killed publisher/datawriter has no active events
EXPECT_FALSE(publisher_event_ready);

// clean up
ret = rcl_event_fini(&subscription_event);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

/*
* Basic test of publisher and subscriber deadline events
* Basic test of publisher and subscriber deadline events, with first message sent after deadline
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline)
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_missed)
{
// initialize publisher and subscriber
SetUpPubSub(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);

// wait for discovery. also adds delay to publishing of message
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
std::this_thread::sleep_for(std::chrono::milliseconds(DEADLINE_PERIOD_IN_MS + 500));

rcl_ret_t ret;

// publish message to topic
const char * test_string = "testing";
{
test_msgs__msg__Primitives msg;
Expand All @@ -291,12 +323,14 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// wait for events
bool msg_ready, subscription_event_ready, publisher_event_ready;
ASSERT_TRUE(wait_for_msgs_and_events(&subscription, &subscription_event,
&publisher_event, context_ptr, 1, 1000, msg_ready, subscription_event_ready,
publisher_event_ready));
ASSERT_TRUE(wait_for_msgs_and_events(&subscription, &subscription_event, &publisher_event,
context_ptr, 1, 1000, msg_ready, subscription_event_ready, publisher_event_ready));

if (msg_ready) {
// test that the message published to topic is as expected
EXPECT_TRUE(msg_ready);
{
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
Expand All @@ -307,39 +341,47 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline)
EXPECT_EQ(std::string(test_string), std::string(msg.string_value.data, msg.string_value.size));
}

ASSERT_TRUE(subscription_event_ready);
if (subscription_event_ready) {
// test subscriber/datareader deadline missed status
EXPECT_TRUE(subscription_event_ready);
{
rmw_requested_deadline_missed_status_t deadline_status;
ret = rcl_take_event(&subscription_event, &deadline_status);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(deadline_status.total_count, 1);
EXPECT_EQ(deadline_status.total_count_change, 1);
}

ASSERT_TRUE(publisher_event_ready);
if (publisher_event_ready) {
// test publisher/datawriter deadline missed status
EXPECT_TRUE(publisher_event_ready);
{
rmw_offered_deadline_missed_status_t deadline_status;
ret = rcl_take_event(&publisher_event, &deadline_status);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(deadline_status.total_count, 1);
EXPECT_EQ(deadline_status.total_count_change, 1);
}

// clean up
TearDownPubSub();
}

/*
* Test of publisher and subscriber, expecting no deadline events
* Basic test of publisher and subscriber deadline events, with first message sent before deadline
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_missed)
{
// initialize publisher and subscriber
SetUpPubSub(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);

// wait for discovery. also adds delay to publishing of message
// TODO(wjwwood): add logic to wait for the connection to be established
// probably using the count_subscriptions busy wait mechanism
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(500));
std::this_thread::sleep_for(std::chrono::milliseconds(DEADLINE_PERIOD_IN_MS - 500));

rcl_ret_t ret;

// publish message to topic
const char * test_string = "testing";
{
test_msgs__msg__Primitives msg;
Expand All @@ -350,12 +392,14 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

// wait for events
bool msg_ready, subscription_event_ready, publisher_event_ready;
ASSERT_TRUE(wait_for_msgs_and_events(&subscription, &subscription_event,
&publisher_event, context_ptr, 1, 1000, msg_ready, subscription_event_ready,
publisher_event_ready));
ASSERT_FALSE(wait_for_msgs_and_events(&subscription, &subscription_event, &publisher_event,
context_ptr, 1, 1000, msg_ready, subscription_event_ready, publisher_event_ready));

if (msg_ready) {
// test that the message published to topic is as expected
EXPECT_TRUE(msg_ready);
{
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
Expand All @@ -366,21 +410,26 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_no_deadline_
EXPECT_EQ(std::string(test_string), std::string(msg.string_value.data, msg.string_value.size));
}

ASSERT_TRUE(subscription_event_ready);
if (subscription_event_ready) {
// test subscriber/datareader deadline missed status
EXPECT_FALSE(subscription_event_ready);
{
rmw_requested_deadline_missed_status_t deadline_status;
ret = rcl_take_event(&subscription_event, &deadline_status);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(deadline_status.total_count, 0);
EXPECT_EQ(deadline_status.total_count_change, 0);
}

ASSERT_TRUE(publisher_event_ready);
if (publisher_event_ready) {
// test publisher/datawriter deadline missed status
EXPECT_FALSE(publisher_event_ready);
{
rmw_offered_deadline_missed_status_t deadline_status;
ret = rcl_take_event(&publisher_event, &deadline_status);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(deadline_status.total_count, 0);
EXPECT_EQ(deadline_status.total_count_change, 0);
}

// clean up
TearDownPubSub();
}

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