Tests for TrajectoryMonitor using dependency injection #570

Abishalini · 2021-07-23T22:29:11Z

Description

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

codecov · 2021-07-23T22:58:09Z

Codecov Report

Merging #570 (3a0030b) into main (55a74e9) will increase coverage by 0.19%.
The diff coverage is 27.78%.

@@            Coverage Diff             @@
##             main     #570      +/-   ##
==========================================
+ Coverage   55.39%   55.57%   +0.19%     
==========================================
  Files         196      198       +2     
  Lines       21402    21420      +18     
==========================================
+ Hits        11854    11903      +49     
+ Misses       9548     9517      -31

Impacted Files	Coverage Δ
...moveit/planning_scene_monitor/trajectory_monitor.h	`75.00% <0.00%> (ø)`
...nitor/src/trajectory_monitor_middleware_handle.cpp	`0.00% <0.00%> (ø)`
.../planning_scene_monitor/src/trajectory_monitor.cpp	`66.08% <62.50%> (+66.08%)`	⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	`75.93% <0.00%> (+1.12%)`	⬆️
...anning_scene_monitor/src/current_state_monitor.cpp	`77.14% <0.00%> (+1.80%)`	⬆️
...eit/planning_scene_monitor/current_state_monitor.h	`100.00% <0.00%> (+22.23%)`	⬆️

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jliukkonen

Good to have tests for this component :)

jliukkonen · 2021-07-23T23:11:11Z

...scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp

+   *
+   * @param[in]  node  The ros node
+   */
+  TrajectoryMonitorMiddlewareHandle(const double sampling_frequency);


The type can be just double. Constness isn't required.

jliukkonen · 2021-07-23T23:11:51Z

moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor_middleware_handle.cpp

+namespace planning_scene_monitor
+{
+planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::TrajectoryMonitorMiddlewareHandle(
+    const double sampling_frequency)


const can be removed.

jliukkonen · 2021-07-23T23:13:40Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+  EXPECT_CALL(*mock_trajectory_monitor_middleware_handle, sleep).Times(::testing::AtLeast(1));
+
+  // GIVEN a TrajectoryMonitor is started
+  planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor;


Should it be GIVEN, WHEN and THEN after those two?

@jliukkonen the pattern order is this way because of how gmock works.

The mock middleware handles are moved when creating the current_state_monitor and trajectory_monitor too

jliukkonen · 2021-07-23T23:14:54Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+
+  // WHEN we call the startTrajectoryMonitor function
+  trajectory_monitor.startTrajectoryMonitor();
+  waitFor(10s, [&]() { return callback_called == true; });


Will this test run for 10 seconds? Probably should be in millisecond range? Or?

It will wait for up to 10s for callback_called to equal true. The actual time this takes is unknown but should be <1ms.

jliukkonen · 2021-07-23T23:15:55Z

moveit_ros/planning/planning_scene_monitor/CMakeLists.txt

@@ -46,6 +47,12 @@ if(BUILD_TESTING)
    test/current_state_monitor_tests.cpp
  )
  target_link_libraries(current_state_monitor_tests
+  ${MOVEIT_LIB_NAME}
+  )


Nit: the formatting looks a bit weird here.

tylerjw · 2021-07-26T13:43:00Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+struct MockCurrentStateMonitorMiddlewareHandle : public planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle
+{
+  MOCK_METHOD(rclcpp::Time, now, (), (const, override));
+  MOCK_METHOD(void, createJointStateSubscription,
+              (const std::string& topic, planning_scene_monitor::JointStateUpdateCallback callback), (override));
+  MOCK_METHOD(void, resetJointStateSubscription, (), (override));
+  MOCK_METHOD(std::string, getJointStateTopicName, (), (const, override));
+};


@griswaldbrooks If we start using these in a bunch of tests would it be normal to put them in a header that's included by our tests?

It would, assuming they're exactly the same and reused many times. Normally, my threshold for reuse is about 2. For these, my gut says about 3.

tylerjw

Generally approve. The only thing I saw was the const in the parameter list that @jliukkonen pointed out and the name of the test. Thank you for doing this!

tylerjw · 2021-07-26T13:43:40Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+  }
+}
+
+TEST(TrajectoryMonitorTests, test1)


Name the test something. Maybe SleepAtleastOnce?

tylerjw · 2021-07-26T13:44:44Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+
+  // WHEN we call the startTrajectoryMonitor function
+  trajectory_monitor.startTrajectoryMonitor();
+  waitFor(10s, [&]() { return callback_called == true; });


It will wait for up to 10s for callback_called to equal true. The actual time this takes is unknown but should be <1ms.

tylerjw · 2021-07-26T20:49:51Z

@griswaldbrooks will you give this a quick review. I believe this is ready for merging.

tylerjw · 2021-07-26T20:50:34Z

The failing rolling-testing CI job is a problem with the OSRF debians for rolling testing.

griswaldbrooks · 2021-07-26T22:36:41Z

@tylerjw will do

griswaldbrooks

@Abishalini @tylerjw

griswaldbrooks · 2021-07-26T23:01:18Z

...s/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h


 namespace planning_scene_monitor
 {
-using TrajectoryStateAddedCallback =
-    boost::function<void(const moveit::core::RobotStateConstPtr&, const rclcpp::Time&)>;
+using TrajectoryStateAddedCallback = std::function<void(const moveit::core::RobotStateConstPtr&, const rclcpp::Time&)>;


Include-what-you-use would want

#include <rclcpp/rclcpp.hpp> // or #include <rclcpp/time.hpp>

and whatever declares moveit::core::RobotStateConstPtr but I can't seem to find that...

I think it is #include <moveit/robot_state/robot_state.h>

Could be, though I suspect it's that MOVEIT macro, which might be there?

griswaldbrooks · 2021-07-26T23:02:06Z

...s/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h

+     */
+    virtual void sleep() = 0;
+  };
+
  /** @brief Constructor.
   */
  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 0.0);


I could be convinced otherwise, but I would think that while we're here, we would use proper doxygen comments, especially on the new ctor.

griswaldbrooks · 2021-07-26T23:05:04Z

...s/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h

@@ -96,6 +115,7 @@ class TrajectoryMonitor
  void recordStates();

  CurrentStateMonitorConstPtr current_state_monitor_;
+  std::unique_ptr<MiddlewareHandle> middleware_handle_;


@tylerjw where is moveit style on class member documentation.
https://moveit.ros.org/documentation/contributing/code/ implies http://wiki.ros.org/CppStyleGuide#Documentation to me

All functions, methods, classes, class variables, enumerations, and constants should be documented.

I would specifically disagree with the idea of documenting class variables. I would prefer we focus on documenting the public interface. I'm not sure what a useful comment on this line would be?

Consider

CurrentStateMonitorConstPtr current_state_monitor_; //!< Samples joint states. std::unique_ptr<MiddlewareHandle> middleware_handle_; //!< Interface for communicating with ROS.

It may not be part of the public interface, but it is a public facing member.

Also, what do you mean by "focus on documenting the public interface"? Everything public facing should be documented imho

You are correct that these are not in an impl class. I would still however focus on documenting the parts of a class that the user can access without inheriting or making it a friend class first (that is what I meant by public interface).

MoveIt is not properly pimpl'ed (even in the few places where it is it's somewhat smelly), otherwise this would be a different matter. As MoveIt is generally extendable/hackable on any level, I'm no big fan of having pimpl/private declarations in the framework for most members anyway, but that's an independent discussion.

Either way, adding brief inline comments makes sense when they add additional information and adding them takes less resources than discussing in long threads whether focusing on other things makes more sense 😏
I don't feel the proposed comments add relevant information, but then that's usually just maintainer bias.
[csm] //!< Samples robot states. is somewhat more accurate, because CSM also updates from TF where required.

even in the few places where it is it's somewhat smelly
😏

I probably wouldn't advocate for arbitrary use of pimpl (Especially since I generally advocate against pointers where dynamic memory isn't required. Additionally I think ROS developers over use pointers because that's what they were taught).
I know it has a purpose in maintaining a stable ABI.
I am a big fan of composition, though not simply using pimpl without the "p".

Either way, adding brief inline comments makes sense when they add additional information

Mainly I'm just I'm just trying to clarify a point of policy/bike shedding, since the moveit style guide said/implied that it follows the ROS style guide. At previous companies, we documented every member and interface with no ill effects. One might even argue that if you can't come up with a logical and simple comment for the member, perhaps it shouldn't be there.
Regardless it seems that the style that member comments are optional. Perhaps I should update the style webpage @tylerjw? I wonder what else deviates.

[csm] //!< Samples robot states. is somewhat more accurate, because CSM also updates from TF where required.

This was mainly a dig to @tylerjw from last week at our hackathon where we started this since every one was making fun of the name and didnt' really know what the class did until we read the entire implementation.

Additionally I think ROS developers over use pointers because that's what they were taught

Not just taught, but also forced by existing shared_ptr APIs. Fully agreed. 😟

One might even argue that if you can't come up with a logical and simple comment for the member, perhaps it shouldn't be there.

One might just as well argue that if you can't come up with a comment that's more descriptive than the variable/class name, it might just be that the author did a good job naming them 🐈

we documented every member and interface with no ill effects

Adding explanations always makes sense. Period. Adding comments for syntactic reasons, on the other hand, if they don't do more than repeat the identifier, amounts to a NOLINT flag for the line, so reviewers don't complain about missing comments. :)
It's hard to find the line between if (exists) { // if it exists and CurrentStateMonitor csm; //!< Samples states, especially when you're working with the code for years.

griswaldbrooks · 2021-07-26T23:06:05Z

...s/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h

+    virtual ~MiddlewareHandle() = default;
+
+    /**
+     * @brief      Add sleep using rate


What is rate? I don't see that anywhere else in the public interface or documentation for MiddlewareHandle

Specify the unit (Hz).

No, my point is that in this interface, there is no discussion of rate, sampling frequency, or anything like that. Furthermore, sleep could be implemented without respect to a ROS rate, so a more abstract comment like

/** * @brief Sleep the handle for some prescribed amount of time. */ virtual void sleep() = 0;

griswaldbrooks · 2021-07-26T23:07:00Z

...scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp

+#pragma once
+
+#include <moveit/planning_scene_monitor/trajectory_monitor.h>
+#include <moveit/planning_scene_monitor/current_state_monitor.h>


Suggested change

#include <moveit/planning_scene_monitor/current_state_monitor.h>

griswaldbrooks · 2021-07-26T23:20:06Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+  MOCK_METHOD(std::string, getJointStateTopicName, (), (const, override));
+};
+
+void waitFor(std::chrono::seconds timeout, std::function<bool()> done)


Doxygen comment would be good.
Does passing timeout by const& make sense @tylerjw https://stackoverflow.com/questions/45740179/why-arent-stdchronoduration-instances-passed-by-value-in-the-standard-libra or are we going to assume we know it's a POD and there's no point or...

I think we assume these are POD and leave it as is. I didn't know about that... the more you know 🌈

@griswaldbrooks I love your recent in-depths-backed-up-by-references reviews! They make for great reading! ❤️

If @tylerjw feels it's unnecessary let's leave it as is. My main complain would be the interface itself, because condition variables/void futures should usually be preferred over polling arbitrary condition functions. 🐈
But in this scope I think it's actually bikeshedding. 🤷

If @tylerjw feels it's unnecessary let's leave it as is

Agreed. Especially since this is test code. I feel like test code, while still requiring high quality, can skip on a few things. Not in this case but in others I might write two functions that did something very similar with the same name in two different namespaces in the same file.
In production code I would never do such a thing, but I think since the scope of test code tends towards being very local, the value of the implementation being nearby and specific, rather than having to understand different initialization options for example if preferred. Though I might be able to be convinced otherwise.

because condition variables/void futures

I also prefer that but something about it in this scope didn't quite hit right. I think it had something to do with being in the same thread but that sounds funny. The atomic is doing something similar-ish. The function isn't arbitrary since it's the only interface the caller has to know if any samples were collected.

🚴

They make for great reading!

I'm trying to prevent myself from picking up habits that aren't based on particular guidance.
I've lived through a few codebases where things were done they way they are because they were done they way they were.

griswaldbrooks · 2021-07-26T23:27:17Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+  // GIVEN a TrajectoryMonitor is started
+  planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor;
+
+  current_state_monitor = std::make_unique<planning_scene_monitor::CurrentStateMonitor>(


Why is the declaration and instantiation on different lines? (this sort of practice opens you up to problems).

Also, I'll bet you one keyboard that CurrentStateMonitorPtr is std::shared_ptr<CurrentStateMonitor> which would mean you're converting a unique to a shared??? Can you just use auto or std::unique_ptr<CurrentStateMonitor> because even if CurrentStateMonitorPtr is a unique_ptr the ambiguity is frustrating since the different pointers are used for different ownership lifetimes.

https://stackoverflow.com/questions/37884728/does-c11-unique-ptr-and-shared-ptr-able-to-convert-to-each-others-type

Can you change this to make_shared?

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

griswaldbrooks · 2021-07-26T23:35:53Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+#include "moveit/utils/robot_model_test_utils.h"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"


Do you need any of these?

griswaldbrooks · 2021-07-26T23:39:37Z

moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp

+  planning_scene_monitor::TrajectoryMonitor trajectory_monitor{ current_state_monitor,
+                                                                std::move(mock_trajectory_monitor_middleware_handle),
+                                                                10.0 };
+


Can you add

// Set the trajectory monitor callback so we can block until at least one sample was taken.

In the future @tylerjw , I feel like this is one reuse away from being put into a fixture. Used only once is debatable. I do give pause though after reading https://abseil.io/tips/122

griswaldbrooks · 2021-07-27T00:29:51Z

moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp

@@ -44,7 +45,16 @@ static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.planning_sce

 planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor,
                                                             double sampling_frequency)
+  : TrajectoryMonitor(state_monitor, std::make_unique<TrajectoryMonitorMiddlewareHandle>(sampling_frequency),


Can we use uniform initialization?

MoveIt does not have a fixed policy on uniform initialization at the moment. I know @rhaschke does not like it very much. I on the other hand am quite a big fan.
It's almost only used in the pilz_industrial_planner sources (which are currently COLCON_IGNORE'ed in moveit2 afaik)
and while I would love to see a clang-tidy PR for the whole code base 😎, let's keep the style consistent unless it actually produces cleaner code to use it (e.g. in-class initialization of floating points, etc.).

Arguably, uniform initialization actually solves a problem and is not a manner of style.
While C++ has multiple ways to initialize, the rules can be funny https://isocpp.org/wiki/faq/cpp11-language#uniform-init
And then of course the "most vexing parse" is always avoided.
Personally, I think within a class, the same initialization technique should be used for uniformity (unless of course you're initialing a std::vector or some such class which has specific initialization semantics for the parens or braces) but I'm not sure why updating to modern idioms shouldn't happen on a class-by-class basis for a codebase. If moveit originally used C-style arrays (such as amcl), and then was ported to C++, I'm not sure why one wouldn't start using std::array or std::vector.

I'm not sure why updating to modern idioms shouldn't happen on a class-by-class basis for a codebase.

👍

It would be really nice if we could clang-tidy this change to the whole codebase but doing it in each piece as we touch it also seems fine to me. Leaving a piece of code a bit nicer because you were there seems like an ok thing to do.

Arguably, uniform initialization actually solves a problem and is not a manner of style. [...] the rules can be funny

Absolutely! It's just that the places you proposed it for are not among the funny rules. And especially for those regular cases opinions differ on what is nicer. Because the whole codebase does not use uniform initialization yet, it makes sense to discuss this separately (maybe add it as a point to the next maintainer meeting and file a separate issue).

--- offtopic ---

actually solves a problem

Currently my favorite problem it *creates* is this

$ cat > foo.cpp <<EOF #include <iostream> struct A { A(const std::initializer_list<double>& x, bool critical= true){ std::cout << critical << "\n"; } }; int main(){ A a1({0,1,2}, false); A a2{ {0,1,2}, false }; A a3({0}, false); A a4{ {0}, false }; return 0; } EOF make foo ./foo 0 0 0 1

Ah, the fun initializer_list constructor parameter. It can both make the creating of objects more intuitive and create a trap for users.

Ah, I see https://godbolt.org/z/GYYqWjoxv
because it's casting the boolean to a double in the initializer list.

A different, but also frustrating example
https://godbolt.org/z/orz8oT4js

A different, but also frustrating example

Yeah, but at least that's the "classic" one everyone knows about (or at least should after reading Effective Modern C++) :)

griswaldbrooks · 2021-07-27T00:30:36Z

moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp

  : current_state_monitor_(state_monitor)
+  , middleware_handle_(std::move(middleware_handle))


Consider (though a separate PR also makes sense) converting to uniform initialization

Suggested change

, middleware_handle_(std::move(middleware_handle))

, middleware_handle_{std::move(middleware_handle)}

⬆️ that is all Griz means btw.

Yes, but for all

tylerjw · 2021-08-02T21:00:27Z

If you rebase this on main it should no longer fail CI on foxy (it will also no longer run a foxy test) as main is for galactic/rolling now.

tylerjw · 2021-08-11T23:34:55Z

I'm sorry this isn't working because I added another function to the middleware interface for current state monitor. You should be able to fix this by just copying one line for the mock out of the current state monitor test.

tylerjw

Thank you for updating this. I think we should merge this before it goes stale again.

Abishalini force-pushed the trajectory_monitor_DI branch from c259fe6 to 8df1ba0 Compare July 23, 2021 22:41

jliukkonen reviewed Jul 23, 2021

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tylerjw reviewed Jul 26, 2021

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tylerjw approved these changes Jul 26, 2021

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griswaldbrooks suggested changes Jul 26, 2021

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griswaldbrooks reviewed Jul 27, 2021

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v4hn mentioned this pull request Jul 28, 2021

Trajectory Monitor: fix obvious bug moveit/moveit#2787

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griswaldbrooks approved these changes Aug 11, 2021

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henningkayser added this to Review in progress in Galactic/Rolling - 2.3.0 - September 10 Aug 31, 2021

henningkayser assigned Abishalini Oct 22, 2021

henningkayser removed this from Review in progress in Galactic/Rolling - 2.3.0 - September 10 Oct 25, 2021

Abishalini added 10 commits November 8, 2021 13:30

Add RCL Interface

fae5a34

Change to Middleware Handle

130a63f

Add trajectory monitor tests

fbbeb15

Fixed test

30358a4

Fix formatting

49fe6c3

Changes recommended by Jere

9b4c0ed

Add documentation

e4ca465

Cleanup part 1

02e9201

Cleanup part 1

7ffeaca

Refactor sleep function

7a2f948

Abishalini force-pushed the trajectory_monitor_DI branch from d4318b6 to 7a2f948 Compare November 8, 2021 21:56

Abishalini added 2 commits November 8, 2021 15:07

Clang format

a517bf2

Add override

d9096cf

Abishalini force-pushed the trajectory_monitor_DI branch from b6565ca to d9096cf Compare November 9, 2021 15:31

Add new function in middleware handle

fd41474

tylerjw approved these changes Nov 12, 2021

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tylerjw added 2 commits November 12, 2021 11:43

Merge branch 'main' into trajectory_monitor_DI

65c933f

Merge branch 'main' into trajectory_monitor_DI

3a0030b

tylerjw merged commit 542c5f7 into moveit:main Nov 15, 2021

Abishalini deleted the trajectory_monitor_DI branch November 18, 2021 19:11

		: current_state_monitor_(state_monitor)
		, middleware_handle_(std::move(middleware_handle))

	, middleware_handle_(std::move(middleware_handle))
	, middleware_handle_{std::move(middleware_handle)}

Tests for TrajectoryMonitor using dependency injection #570

Tests for TrajectoryMonitor using dependency injection #570

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Abishalini commented Jul 23, 2021 • edited by tylerjw Loading

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tylerjw commented Jul 26, 2021

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tylerjw commented Aug 2, 2021

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Abishalini commented Jul 23, 2021 •

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