Refactor play until and duration duration tests (ros2#1024)

* Refactors the common parts of play_until and play_duration tests. - Migrates test fixtures of play with duration and until a timestamp options to a common header file. - Moves test_play_for and PlayFor to use duration instead. Signed-off-by: Agustin Alba Chicar <ag.albachicar@ekumenlabs.com> * Update rosbag2_transport/test/rosbag2_transport/test_play_until.cpp Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Agustin Alba Chicar <ag.albachicar@ekumenlabs.com> * Update rosbag2_transport/test/rosbag2_transport/test_play_until.cpp Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Agustin Alba Chicar <ag.albachicar@ekumenlabs.com> * Fixes formatting. Signed-off-by: Agustin Alba Chicar <ag.albachicar@ekumenlabs.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com>
DensoADAS · Jul 6, 2022 · 856540e · 856540e
1 parent 3f1bf5f
commit 856540e
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diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
@@ -110,12 +110,6 @@ function(create_tests_for_rmw_implementation)
     AMENT_DEPS test_msgs rosbag2_test_common
     ${SKIP_TEST})
 
-  rosbag2_transport_add_gmock(test_play_for
-    test/rosbag2_transport/test_play_for.cpp
-    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
-    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
-
   rosbag2_transport_add_gmock(test_play_loop
     test/rosbag2_transport/test_play_loop.cpp
     LINK_LIBS rosbag2_transport
@@ -159,6 +153,12 @@ function(create_tests_for_rmw_implementation)
     AMENT_DEPS test_msgs rosbag2_test_common
     ${SKIP_TEST})
 
+  rosbag2_transport_add_gmock(test_play_duration
+      test/rosbag2_transport/test_play_duration.cpp
+      INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
+      LINK_LIBS rosbag2_transport
+      AMENT_DEPS test_msgs rosbag2_test_common)
+
   rosbag2_transport_add_gmock(test_play_next
       test/rosbag2_transport/test_play_next.cpp
       INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>

diff --git a/rosbag2_transport/test/rosbag2_transport/rosbag2_play_duration_until_fixture.hpp b/rosbag2_transport/test/rosbag2_transport/rosbag2_play_duration_until_fixture.hpp
@@ -0,0 +1,206 @@
+// Copyright 2022, Open Source Robotics Corporation.
+//
+// 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.Bosch Software Innovations GmbH.
+#ifndef ROSBAG2_TRANSPORT__ROSBAG2_PLAY_DURATION_UNTIL_FIXTURE_HPP_
+#define ROSBAG2_TRANSPORT__ROSBAG2_PLAY_DURATION_UNTIL_FIXTURE_HPP_
+
+#include <gmock/gmock.h>
+
+#include <chrono>
+#include <future>
+#include <memory>
+#include <string>
+#include <vector>
+#include <utility>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "rosbag2_test_common/subscription_manager.hpp"
+
+#include "rosbag2_transport/player.hpp"
+
+#include "test_msgs/msg/arrays.hpp"
+#include "test_msgs/msg/basic_types.hpp"
+#include "test_msgs/message_fixtures.hpp"
+
+#include "mock_player.hpp"
+#include "rosbag2_play_test_fixture.hpp"
+#include "rosbag2_transport_test_fixture.hpp"
+
+class RosBag2PlayDurationAndUntilTestFixture : public RosBag2PlayTestFixture
+{
+public:
+  static constexpr int kIntValue{32};
+
+  static constexpr float kFloat1Value{40.};
+  static constexpr float kFloat2Value{2.};
+  static constexpr float kFloat3Value{0.};
+
+  static constexpr bool kBool1Value{false};
+  static constexpr bool kBool2Value{true};
+  static constexpr bool kBool3Value{false};
+
+  static constexpr const char * kTopic1Name_{"topic1"};
+  static constexpr const char * kTopic2Name_{"topic2"};
+  static constexpr const char * kTopic1_{"/topic1"};
+  static constexpr const char * kTopic2_{"/topic2"};
+
+  inline void EvalReplayedPrimitives(
+    const std::vector<test_msgs::msg::BasicTypes::SharedPtr> & replayed_primitives) const
+  {
+    EXPECT_THAT(
+      replayed_primitives,
+      testing::Each(
+        testing::Pointee(
+          testing::Field(&test_msgs::msg::BasicTypes::int32_value, kIntValue))));
+  }
+
+  inline void EvalReplayedFloatArrayPrimitives(
+    const std::vector<test_msgs::msg::Arrays::SharedPtr> & replayed_float_array_primitive) const
+  {
+    EXPECT_THAT(
+      replayed_float_array_primitive,
+      testing::Each(
+        testing::Pointee(
+          testing::Field(
+            &test_msgs::msg::Arrays::float32_values,
+            testing::ElementsAre(kFloat1Value, kFloat2Value, kFloat3Value)))));
+  }
+
+  inline void EvalReplayedBoolArrayPrimitives(
+    const std::vector<test_msgs::msg::Arrays::SharedPtr> & replayed_bool_array_primitive) const
+  {
+    EXPECT_THAT(
+      replayed_bool_array_primitive,
+      testing::Each(
+        testing::Pointee(
+          testing::Field(
+            &test_msgs::msg::Arrays::bool_values,
+            testing::ElementsAre(kBool1Value, kBool2Value, kBool3Value)))));
+  }
+
+  std::vector<rosbag2_storage::TopicMetadata> get_topic_types()
+  {
+    return {{kTopic1Name_, "test_msgs/BasicTypes", "", ""},
+      {kTopic2Name_, "test_msgs/Arrays", "", ""}};
+  }
+
+  std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>>
+  get_serialized_messages()
+  {
+    auto primitive_message1 = get_messages_basic_types()[0];
+    primitive_message1->int32_value = kIntValue;
+
+    auto complex_message1 = get_messages_arrays()[0];
+    complex_message1->float32_values = {{kFloat1Value, kFloat2Value, kFloat3Value}};
+    complex_message1->bool_values = {{kBool1Value, kBool2Value, kBool3Value}};
+
+    // @{ Ordering matters. The mock reader implementation moves messages
+    //    around without any knowledge about message chronology. It just picks
+    //    the next one Make sure to keep the list in order or sort it!
+    std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages =
+    {serialize_test_message(kTopic1Name_, 100, primitive_message1),
+      serialize_test_message(kTopic2Name_, 120, complex_message1),
+      serialize_test_message(kTopic1Name_, 200, primitive_message1),
+      serialize_test_message(kTopic2Name_, 220, complex_message1),
+      serialize_test_message(kTopic1Name_, 300, primitive_message1),
+      serialize_test_message(kTopic2Name_, 320, complex_message1)};
+    // @}
+    return messages;
+  }
+
+  class PlayerInitializationConfiguration
+  {
+public:
+    PlayerInitializationConfiguration & PlaybackUntilTimestampInMillis(
+      const int64_t playback_until_timestamp_ms)
+    {
+      playback_until_timestamp_ms_ = playback_until_timestamp_ms;
+      return *this;
+    }
+
+    PlayerInitializationConfiguration & PlaybackDurationInMillis(const int64_t playback_duration_ms)
+    {
+      playback_duration_ms_ = playback_duration_ms;
+      return *this;
+    }
+
+    PlayerInitializationConfiguration & ExpectedNumberOfMessagesOnTopic1(const size_t num_messages)
+    {
+      expected_number_of_messages_on_topic1_ = num_messages;
+      return *this;
+    }
+
+    PlayerInitializationConfiguration & ExpectedNumberOfMessagesOnTopic2(const size_t num_messages)
+    {
+      expected_number_of_messages_on_topic2_ = num_messages;
+      return *this;
+    }
+
+    void AndPlay()
+    {
+      auto topic_types = test_fixture_->get_topic_types();
+      auto messages = test_fixture_->get_serialized_messages();
+
+      auto prepared_mock_reader = std::make_unique<MockSequentialReader>();
+      prepared_mock_reader->prepare(messages, topic_types);
+      auto reader = std::make_unique<rosbag2_cpp::Reader>(std::move(prepared_mock_reader));
+
+      test_fixture_->sub_->add_subscription<test_msgs::msg::BasicTypes>(
+        kTopic1_, expected_number_of_messages_on_topic1_);
+      test_fixture_->sub_->add_subscription<test_msgs::msg::Arrays>(
+        kTopic2_, expected_number_of_messages_on_topic2_);
+
+      test_fixture_->play_options_.playback_until_timestamp =
+        RCL_MS_TO_NS(playback_until_timestamp_ms_);
+      test_fixture_->play_options_.playback_duration =
+        rclcpp::Duration(std::chrono::milliseconds(playback_duration_ms_));
+      test_fixture_->player_ = std::make_shared<MockPlayer>(
+        std::move(
+          reader), test_fixture_->storage_options_, test_fixture_->play_options_);
+
+      // Wait for discovery to match publishers with subscribers
+      ASSERT_TRUE(
+        test_fixture_->sub_->spin_and_wait_for_matched(
+          test_fixture_->player_->get_list_of_publishers(),
+          std::chrono::seconds(5)));
+
+      auto await_received_messages = test_fixture_->sub_->spin_subscriptions();
+      ASSERT_TRUE(test_fixture_->player_->play());
+      await_received_messages.get();
+    }
+
+protected:
+    friend class RosBag2PlayDurationAndUntilTestFixture;
+
+    explicit PlayerInitializationConfiguration(
+      RosBag2PlayDurationAndUntilTestFixture * test_fixture)
+    : test_fixture_(test_fixture) {}
+
+private:
+    RosBag2PlayDurationAndUntilTestFixture * test_fixture_{};
+    int64_t playback_until_timestamp_ms_{-1};
+    int64_t playback_duration_ms_{-1};
+    size_t expected_number_of_messages_on_topic1_{3};
+    size_t expected_number_of_messages_on_topic2_{3};
+  };
+
+  PlayerInitializationConfiguration InitializePlayerWith()
+  {
+    return PlayerInitializationConfiguration(this);
+  }
+
+  std::shared_ptr<MockPlayer> player_;
+};
+
+#endif  // ROSBAG2_TRANSPORT__ROSBAG2_PLAY_DURATION_UNTIL_FIXTURE_HPP_