Add integration test for nested messages. (#530)

Signed-off-by: Chris Lalancette <clalancette@gmail.com>

test_communication/CMakeLists.txt

@@ -26,8 +26,11 @@ ament_auto_find_build_dependencies()
 
 if(BUILD_TESTING)
  find_package(ament_cmake REQUIRED)
- find_package(test_msgs REQUIRED)
  find_package(osrf_testing_tools_cpp REQUIRED)
+ find_package(rcpputils REQUIRED)
+ find_package(rcl REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(test_msgs REQUIRED)
 
  ament_index_get_resource(interface_files "rosidl_interfaces" "test_msgs")
  string(REPLACE "\n" ";" interface_files "${interface_files}")
@@ -57,6 +60,8 @@ if(BUILD_TESTING)
 
  set(other_message_files
  "msg/FieldsWithSameType.msg"
+ "msg/Inner.msg"
+ "msg/Outer.msg"
  "msg/UInt32.msg"
  )
  rosidl_generate_interfaces(${PROJECT_NAME}
@@ -428,7 +433,7 @@ if(BUILD_TESTING)
  # publisher combined with a subscriber
  custom_executable(test_publisher_subscriber_cpp
  "test/test_publisher_subscriber.cpp")
- target_link_libraries(test_publisher_subscriber_cpp subscribe_types)
+ target_link_libraries(test_publisher_subscriber_cpp subscribe_types rcpputils::rcpputils)
  # subcription valid data
  custom_executable(test_subscription_valid_data_cpp
  "test/test_subscription_valid_data.cpp")
@@ -449,6 +454,11 @@ if(BUILD_TESTING)
  custom_executable(test_action_server_cpp
  "test/test_action_server.cpp")
 
+ # Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+ custom_executable(test_nested_types
+ "test/test_nested_types.cpp")
+ target_link_libraries(test_nested_types rcpputils::rcpputils)
+
  macro(targets)
  if(NOT SKIP_SINGLE_RMW_TESTS)
  custom_test_c(test_messages_c
@@ -458,6 +468,8 @@ if(BUILD_TESTING)
  custom_test(test_publisher_subscriber_cpp TRUE)
  # subcription valid data
  custom_test(test_subscription_valid_data_cpp FALSE)
+ # Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+ custom_test(test_nested_types FALSE)
  endif()
 
  set(rmw_implementation1 "${rmw_implementation}")

test_communication/msg/Inner.msg

@@ -0,0 +1,3 @@
+# Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+float64 float_field
+bool bool_field

test_communication/msg/Outer.msg

@@ -0,0 +1,5 @@
+# Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+test_communication/Inner inner
+bool bool_field_1
+bool bool_field_2
+bool bool_field_3

test_communication/test/test_nested_types.cpp

@@ -0,0 +1,91 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+
+#include <chrono>
+#include <limits>
+#include <thread>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "rcpputils/scope_exit.hpp"
+
+#include "test_communication/msg/outer.hpp"
+
+template<class T>
+static typename std::enable_if<!std::numeric_limits<T>::is_integer, bool>::type
+almost_equal(T x, T y, int ulp)
+{
+ // the machine epsilon has to be scaled to the magnitude of the values used
+ // and multiplied by the desired precision in ULPs (units in the last place)
+ return std::fabs(x - y) <= std::numeric_limits<T>::epsilon() * std::fabs(x + y) * ulp
+ // unless the result is subnormal
+ || std::fabs(x - y) < std::numeric_limits<T>::min();
+}
+
+int main(int argc, char * argv[])
+{
+ rclcpp::init(argc, argv);
+ RCPPUTILS_SCOPE_EXIT(
+ {
+ rclcpp::shutdown();
+ });
+
+ auto node = rclcpp::Node::make_shared("test_nested_types");
+
+ std::thread spin_thread([node]() {
+ rclcpp::spin(node);
+ });
+
+ bool valid = false;
+ bool received = false;
+ auto callback = [&valid, &received](const test_communication::msg::Outer & msg) {
+ if (almost_equal(msg.inner.float_field, 1.23456789, 2) &&
+ msg.inner.bool_field && msg.bool_field_1 && msg.bool_field_2 && msg.bool_field_3)
+ {
+ valid = true;
+ }
+
+ received = true;
+ };
+ auto subscription =
+ node->create_subscription<test_communication::msg::Outer>("nested_type_topic", 10, callback);
+
+ auto publisher = node->create_publisher<test_communication::msg::Outer>("nested_type_topic", 10);
+
+ auto start = std::chrono::steady_clock::now();
+ rclcpp::WallRate cycle_rate(20);
+ while (!received && ((std::chrono::steady_clock::now() - start) < std::chrono::seconds(10))) {
+ auto msg = test_communication::msg::Outer();
+ msg.inner.float_field = 1.23456789;
+ msg.inner.bool_field = true;
+ msg.bool_field_1 = true;
+ msg.bool_field_2 = true;
+ msg.bool_field_3 = true;
+ publisher->publish(msg);
+
+ cycle_rate.sleep();
+ }
+
+ rclcpp::shutdown();
+
+ spin_thread.join();
+
+ if (valid) {
+ return 0;
+ } else {
+ return 1;
+ }
+}