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Qos test #4

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merged 19 commits into from
Apr 3, 2019
Merged

Qos test #4

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2be4d6b
initial qos interface changes
mm318 Feb 27, 2019
3855c9c
add creation of event waitable type
mm318 Feb 28, 2019
393cff2
add event APIs to wait_set
mm318 Mar 1, 2019
2b669dc
Add rcl_take_event
ross-desmond Mar 5, 2019
a524654
fix some ros2 build issues
mm318 Mar 5, 2019
b256ec2
add rcl event type enum
mm318 Mar 11, 2019
20553d3
fix lint errors
mm318 Mar 15, 2019
960bcd5
apply uncrustify
mm318 Mar 15, 2019
bda0992
add section about DCO to CONTRIBUTING.md
dirk-thomas Mar 20, 2019
03dec21
Refactor graph API docs (#401)
jacobperron Mar 20, 2019
1ccce36
fix segfault when initializing rmw_event_t
mm318 Mar 21, 2019
682c70c
Use new qos policy defs
Mar 22, 2019
1e40ba7
fix invalid memory access
mm318 Mar 26, 2019
5957c97
add missing code that handles rmw_events
mm318 Mar 27, 2019
23cd7a1
revert changes to client and services
mm318 Mar 28, 2019
28b39cf
update API calls related to rmw_event_t
mm318 Mar 28, 2019
ccac717
Merge remote-tracking branch 'origin/master' into qos
mm318 Mar 29, 2019
9a2dd2b
fix failing tests in test_events (#2)
mm318 Apr 2, 2019
31f7c42
synchronize the qos-test branch with the qos_reviewed branch so that …
mm318 Apr 2, 2019
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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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shouldn't you be able to do auto teardown using the class fixture?

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For the liveliness test, I can only tear down the subscriber, so I couldn't make the auto TearDown() tear down absolutely everything.

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Hmm, I guess it's already doing a manual setup, so it's not out of pattern.

You could perhaps on the fixture set a this->doTearDownPublisher and check that on the TearDown method - might keep more logic contained on the fixture such that you can't accidentally forget to clean up

Not blocking approval on this, just picking through it

}