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Merged
merged 8 commits into from
May 14, 2020
Merged

Convert sleep_for into appropriate logic in tests #631

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34cdfc9
convert sleep_for into appropriate logic
Barry-Xu-2018 Apr 23, 2020
cdcc49a
Use accurate checking condition
Barry-Xu-2018 Apr 23, 2020
9603c7c
Fixed based on comments
Barry-Xu-2018 Apr 26, 2020
22247e5
miss calling rcl_wait_set_fini
Barry-Xu-2018 Apr 26, 2020
e202724
keep same logic in a common area
Barry-Xu-2018 Apr 29, 2020
bf65de2
add comments for helper functions
Barry-Xu-2018 Apr 30, 2020
d32e435
Update comments for helper functions
Barry-Xu-2018 May 4, 2020
5e7ac20
Fix build error for Windows
Barry-Xu-2018 May 13, 2020
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8 changes: 4 additions & 4 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -191,15 +191,15 @@ function(test_target_function)
)

rcl_add_custom_gtest(test_service${target_suffix}
SRCS rcl/test_service.cpp
SRCS rcl/test_service.cpp rcl/wait_for_entity_helpers.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
)

rcl_add_custom_gtest(test_subscription${target_suffix}
SRCS rcl/test_subscription.cpp
SRCS rcl/test_subscription.cpp rcl/wait_for_entity_helpers.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
Expand Down Expand Up @@ -259,13 +259,13 @@ function(test_target_function)
# Launch tests

rcl_add_custom_executable(service_fixture${target_suffix}
SRCS rcl/service_fixture.cpp
SRCS rcl/service_fixture.cpp rcl/wait_for_entity_helpers.cpp
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
)

rcl_add_custom_executable(client_fixture${target_suffix}
SRCS rcl/client_fixture.cpp
SRCS rcl/client_fixture.cpp rcl/wait_for_entity_helpers.cpp
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
)
Expand Down
87 changes: 1 addition & 86 deletions rcl/test/rcl/client_fixture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,6 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <chrono>
#include <stdexcept>
#include <string>
#include <thread>

#include "rcutils/logging_macros.h"

#include "rcl/client.h"
Expand All @@ -26,87 +21,7 @@

#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
#include "rcl/graph.h"

bool
wait_for_server_to_be_available(
rcl_node_t * node,
rcl_client_t * client,
size_t max_tries,
int64_t period_ms)
{
size_t iteration = 0;
do {
++iteration;
bool is_ready;
rcl_ret_t ret = rcl_service_server_is_available(node, client, &is_ready);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
"Error in rcl_service_server_is_available: %s",
rcl_get_error_string().str);
return false;
}
if (is_ready) {
return true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(period_ms));
} while (iteration < max_tries);
return false;
}

bool
wait_for_client_to_be_ready(
rcl_client_t * client,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, 0, context, rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str);
return false;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string().str);
throw std::runtime_error("error while waiting for client");
}
});
size_t iteration = 0;
do {
++iteration;
if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string().str);
return false;
}
if (rcl_wait_set_add_client(&wait_set, client, NULL) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_add_client: %s", rcl_get_error_string().str);
return false;
}
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
if (ret == RCL_RET_TIMEOUT) {
continue;
}
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string().str);
return false;
}
for (size_t i = 0; i < wait_set.size_of_clients; ++i) {
if (wait_set.clients[i] && wait_set.clients[i] == client) {
return true;
}
}
} while (iteration < max_tries);
return false;
}
#include "wait_for_entity_helpers.hpp"

int main(int argc, char ** argv)
{
Expand Down
55 changes: 1 addition & 54 deletions rcl/test/rcl/service_fixture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,6 @@
// limitations under the License.

#include <chrono>
#include <stdexcept>
#include <string>
#include <thread>

#include "rcutils/logging_macros.h"
Expand All @@ -27,59 +25,8 @@

#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
#include "wait_for_entity_helpers.hpp"

bool
wait_for_service_to_be_ready(
rcl_service_t * service,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, 0, context, rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string().str);
return false;
}
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string().str);
throw std::runtime_error("error waiting for service to be ready");
}
});
size_t iteration = 0;
do {
++iteration;
if (rcl_wait_set_clear(&wait_set) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_clear: %s", rcl_get_error_string().str);
return false;
}
if (rcl_wait_set_add_service(&wait_set, service, NULL) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in wait_set_add_service: %s", rcl_get_error_string().str);
return false;
}
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
if (ret == RCL_RET_TIMEOUT) {
continue;
}
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string().str);
return false;
}
for (size_t i = 0; i < wait_set.size_of_services; ++i) {
if (wait_set.services[i] && wait_set.services[i] == service) {
return true;
}
}
} while (iteration < max_tries);
return false;
}

int main(int argc, char ** argv)
{
Expand Down
56 changes: 4 additions & 52 deletions rcl/test/rcl/test_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,18 +14,14 @@

#include <gtest/gtest.h>

#include <chrono>
#include <string>
#include <thread>

#include "rcl/service.h"

#include "rcl/rcl.h"

#include "test_msgs/srv/basic_types.h"

#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
#include "wait_for_entity_helpers.hpp"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
Expand Down Expand Up @@ -76,45 +72,6 @@ class CLASSNAME (TestServiceFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
}
};

void
wait_for_service_to_be_ready(
rcl_service_t * service,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms,
bool & success)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, 0, context, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
size_t iteration = 0;
do {
++iteration;
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_service(&wait_set, service, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
if (ret == RCL_RET_TIMEOUT) {
continue;
}
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
for (size_t i = 0; i < wait_set.size_of_services; ++i) {
if (wait_set.services[i] && wait_set.services[i] == service) {
success = true;
return;
}
}
} while (iteration < max_tries);
success = false;
}

/* Basic nominal test of a service.
*/
TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
Expand Down Expand Up @@ -165,10 +122,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});

// TODO(wjwwood): add logic to wait for the connection to be established
// use count_services busy wait mechanism
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
ASSERT_TRUE(wait_for_server_to_be_available(this->node_ptr, &client, 10, 1000));

// Initialize a request.
test_msgs__srv__BasicTypes_Request client_request;
Expand All @@ -190,9 +144,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
test_msgs__srv__BasicTypes_Request__fini(&client_request);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

bool success;
wait_for_service_to_be_ready(&service, context_ptr, 10, 100, success);
ASSERT_TRUE(success);
ASSERT_TRUE(wait_for_service_to_be_ready(&service, context_ptr, 10, 100));

// This scope simulates the service responding in a different context so that we can
// test take_request/send_response in a single-threaded, deterministic execution.
Expand Down Expand Up @@ -234,7 +186,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_msgs__srv__BasicTypes_Request__fini(&service_request);
}
wait_for_service_to_be_ready(&service, context_ptr, 10, 100, success);
ASSERT_FALSE(wait_for_service_to_be_ready(&service, context_ptr, 10, 100));

// Initialize the response owned by the client and take the response.
test_msgs__srv__BasicTypes_Response client_response;
Expand Down
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