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Barry-Xu-2018Barry-Xu-2018
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Update codes based on review comments
Signed-off-by: Barry Xu <[email protected]>
1 parent 39a8cba commit e4f72e5

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‎rcl/test/rcl/test_graph.cpp‎

Lines changed: 59 additions & 75 deletions
Original file line numberDiff line numberDiff line change
@@ -35,7 +35,6 @@
3535

3636
#include "rcutils/logging_macros.h"
3737
#include "rcutils/logging.h"
38-
#include "rcutils/env.h"
3938

4039
#include "test_msgs/msg/basic_types.h"
4140
#include "test_msgs/srv/basic_types.h"
@@ -1234,6 +1233,15 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
12341233
* Note: this test could be impacted by other communications on the same ROS Domain.
12351234
*/
12361235
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_trigger_check) {
1236+
#define CHECK_GUARD_CONDITION_CHANGE(EXPECTED_RESULT) do { \
1237+
ret = rcl_wait_set_clear(&wait_set); \
1238+
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
1239+
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL); \
1240+
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
1241+
ret = rcl_wait(&wait_set, time_to_sleep.count()); \
1242+
ASSERT_EQ(EXPECTED_RESULT, ret) << rcl_get_error_string().str; \
1243+
} while (0)
1244+
12371245
rcl_ret_t ret;
12381246
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
12391247

@@ -1247,7 +1255,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
12471255
});
12481256

12491257
// Test in new ROS domain
1250-
ret = rcl_init_options_set_domain_id(&init_options, 66);
1258+
ret = rcl_init_options_set_domain_id(&init_options, 42);
12511259
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
12521260

12531261
rcl_context_t context = rcl_get_zero_initialized_context();
@@ -1261,7 +1269,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
12611269

12621270
rcl_node_t node = rcl_get_zero_initialized_node();
12631271
rcl_node_options_t node_options = rcl_node_get_default_options();
1264-
ret = rcl_node_init(&node, "test_graph", "", &context, &node_options);
1272+
ret = rcl_node_init(&node, "test_graph", "/", &context, &node_options);
12651273
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
12661274
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
12671275
{
@@ -1282,12 +1290,10 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
12821290
rcl_node_get_graph_guard_condition(&node);
12831291

12841292
// Graph change since first node created
1285-
ret = rcl_wait_set_clear(&wait_set);
1286-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1287-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1288-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1289-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1290-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1293+
{
1294+
SCOPED_TRACE("Check guard condition change failed !");
1295+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1296+
}
12911297

12921298
// Graph change since creating the publisher
12931299
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
@@ -1297,23 +1303,19 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
12971303
"/chatter_test_graph_guard_condition_topics", &pub_ops);
12981304
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
12991305

1300-
ret = rcl_wait_set_clear(&wait_set);
1301-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1302-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1303-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1304-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1305-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1306+
{
1307+
SCOPED_TRACE("Check guard condition change failed !");
1308+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1309+
}
13061310

13071311
// Graph change since destroying the publisher
13081312
ret = rcl_publisher_fini(&pub, &node);
13091313
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
13101314

1311-
ret = rcl_wait_set_clear(&wait_set);
1312-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1313-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1314-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1315-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1316-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1315+
{
1316+
SCOPED_TRACE("Check guard condition change failed !");
1317+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1318+
}
13171319

13181320
// Graph change since creating the subscription
13191321
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
@@ -1323,23 +1325,19 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
13231325
"/chatter_test_graph_guard_condition_topics", &sub_ops);
13241326
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
13251327

1326-
ret = rcl_wait_set_clear(&wait_set);
1327-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1328-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1329-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1330-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1331-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1328+
{
1329+
SCOPED_TRACE("Check guard condition change failed !");
1330+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1331+
}
13321332

13331333
// Graph change since destroying the subscription
13341334
ret = rcl_subscription_fini(&sub, &node);
13351335
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
13361336

1337-
ret = rcl_wait_set_clear(&wait_set);
1338-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1339-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1340-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1341-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1342-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1337+
{
1338+
SCOPED_TRACE("Check guard condition change failed !");
1339+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1340+
}
13431341

13441342
// Graph change since creating service
13451343
rcl_service_t service = rcl_get_zero_initialized_service();
@@ -1352,23 +1350,19 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
13521350
&service_options);
13531351
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
13541352

1355-
ret = rcl_wait_set_clear(&wait_set);
1356-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1357-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1358-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1359-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1360-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1353+
{
1354+
SCOPED_TRACE("Check guard condition change failed !");
1355+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1356+
}
13611357

13621358
// Graph change since destroy service
13631359
ret = rcl_service_fini(&service, &node);
13641360
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
13651361

1366-
ret = rcl_wait_set_clear(&wait_set);
1367-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1368-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1369-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1370-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1371-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1362+
{
1363+
SCOPED_TRACE("Check guard condition change failed !");
1364+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1365+
}
13721366

13731367
// Graph change since creating client
13741368
rcl_client_t client = rcl_get_zero_initialized_client();
@@ -1381,54 +1375,44 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
13811375
&client_options);
13821376
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
13831377

1384-
ret = rcl_wait_set_clear(&wait_set);
1385-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1386-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1387-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1388-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1389-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1378+
{
1379+
SCOPED_TRACE("Check guard condition change failed !");
1380+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1381+
}
13901382

13911383
// Graph change since destroying client
13921384
ret = rcl_client_fini(&client, &node);
13931385
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
13941386

1395-
ret = rcl_wait_set_clear(&wait_set);
1396-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1397-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1398-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1399-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1400-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1387+
{
1388+
SCOPED_TRACE("Check guard condition change failed !");
1389+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1390+
}
14011391

14021392
// Graph change since adding new node
14031393
rcl_node_t node_new = rcl_get_zero_initialized_node();
14041394
ret = rcl_node_init(&node_new, "test_graph2", "", &context, &node_options);
14051395
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
14061396

1407-
ret = rcl_wait_set_clear(&wait_set);
1408-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1409-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1410-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1411-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1412-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1397+
{
1398+
SCOPED_TRACE("Check guard condition change failed !");
1399+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1400+
}
14131401

14141402
// Graph change since destroying new node
14151403
ret = rcl_node_fini(&node_new);
14161404
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
14171405

1418-
ret = rcl_wait_set_clear(&wait_set);
1419-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1420-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1421-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1422-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1423-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1406+
{
1407+
SCOPED_TRACE("Check guard condition change failed !");
1408+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
1409+
}
14241410

14251411
// Should not get graph change if no change
1426-
ret = rcl_wait_set_clear(&wait_set);
1427-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1428-
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
1429-
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
1430-
ret = rcl_wait(&wait_set, time_to_sleep.count());
1431-
ASSERT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
1412+
{
1413+
SCOPED_TRACE("Check guard condition change failed !");
1414+
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_TIMEOUT);
1415+
}
14321416
}
14331417

14341418
/* Test the rcl_service_server_is_available function.

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