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Change codes based on review comments.
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1. change codes to use existing context
2. after no graph change condition, start to test

Signed-off-by: Barry Xu <barry.xu@sony.com>
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@Barry-Xu-2018
Barry-Xu-2018 committed Dec 17, 2020
1 parent 2cd6957 commit bb2365c
Showing 1 changed file with 28 additions and 47 deletions.
75 changes: 28 additions & 47 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1243,61 +1243,41 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_ret_t ret;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);

// Create new context
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
});

// Test in new ROS domain
ret = rcl_init_options_set_domain_id(&init_options, 42);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_context_t context = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});

rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&node, "test_graph", "/", &context, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
});

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_init(
&wait_set, 0, 1, 0, 0, 0, 0, &context, rcl_get_default_allocator());
&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
});

const rcl_guard_condition_t * graph_guard_condition =
rcl_node_get_graph_guard_condition(&node);
rcl_node_get_graph_guard_condition(node_ptr);

// Graph change since first node created
{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
// Wait for no graph change condition
int idx = 0;
while (idx < 100) {
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, time_to_sleep.count());
if (RCL_RET_TIMEOUT == ret) {
break;
} else {
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
"waiting for no graph change condition ...");
}
}
ASSERT_NE(idx, 100);

// Graph change since creating the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
ret = rcl_publisher_init(
&pub, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
&pub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

Expand All @@ -1307,7 +1287,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
}

// Graph change since destroying the publisher
ret = rcl_publisher_fini(&pub, &node);
ret = rcl_publisher_fini(&pub, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
Expand All @@ -1319,7 +1299,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
&sub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

Expand All @@ -1329,7 +1309,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
}

// Graph change since destroying the subscription
ret = rcl_subscription_fini(&sub, &node);
ret = rcl_subscription_fini(&sub, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
Expand All @@ -1342,7 +1322,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_service_options_t service_options = rcl_service_get_default_options();
ret = rcl_service_init(
&service,
&node,
node_ptr,
ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes),
"test_graph_guard_condition_service",
&service_options);
Expand All @@ -1354,7 +1334,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
}

// Graph change since destroy service
ret = rcl_service_fini(&service, &node);
ret = rcl_service_fini(&service, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
Expand All @@ -1367,7 +1347,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(
&client,
&node,
node_ptr,
ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes),
"test_graph_guard_condition_service",
&client_options);
Expand All @@ -1379,7 +1359,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
}

// Graph change since destroying client
ret = rcl_client_fini(&client, &node);
ret = rcl_client_fini(&client, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
Expand All @@ -1389,7 +1369,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi

// Graph change since adding new node
rcl_node_t node_new = rcl_get_zero_initialized_node();
ret = rcl_node_init(&node_new, "test_graph2", "", &context, &node_options);
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&node_new, "test_graph2", "", context_ptr, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
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