Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Revert "Improve trigger test for graph guard condition (#811)" #883

Merged
merged 1 commit into from
Jan 7, 2021
Merged

Revert "Improve trigger test for graph guard condition (#811)" #883

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
220 changes: 60 additions & 160 deletions rcl/test/rcl/test_graph.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1223,175 +1223,75 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
9); // number of retries
}

/* Test the graph guard condition notices below changes.
* publisher create/destroy, subscription create/destroy
* service create/destroy, client create/destroy
* Other node added/removed
/* Test the graph guard condition notices topic changes.
*
* Note: this test could be impacted by other communications on the same ROS Domain.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_trigger_check) {
#define CHECK_GUARD_CONDITION_CHANGE(EXPECTED_RESULT) do { \
ret = rcl_wait_set_clear(&wait_set); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
ret = rcl_wait(&wait_set, time_to_sleep.count()); \
ASSERT_EQ(EXPECTED_RESULT, ret) << rcl_get_error_string().str; \
} while (0)

TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_topics) {
rcl_ret_t ret;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(
&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
});

// Create a thread to sleep for a time, then create a publisher, sleep more, then a subscriber,
// sleep more, destroy the subscriber, sleep more, and then destroy the publisher.
std::promise<bool> topic_changes_promise;
std::thread topic_thread(
[this, &topic_changes_promise]() {
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// create the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// create the subscription
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// destroy the subscription
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// destroy the publication
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// notify that the thread is done
topic_changes_promise.set_value(true);
});
// Wait for the graph state to change, expecting it to do so at least 4 times,
// once for each change in the topics thread.
const rcl_guard_condition_t * graph_guard_condition =
rcl_node_get_graph_guard_condition(node_ptr);

// Wait for no graph change condition
int idx = 0;
for (; idx < 100; idx++) {
ret = rcl_wait_set_clear(&wait_set);
rcl_node_get_graph_guard_condition(this->node_ptr);
ASSERT_NE(nullptr, graph_guard_condition) << rcl_get_error_string().str;
std::shared_future<bool> future = topic_changes_promise.get_future();
size_t graph_changes_count = 0;
// while the topic thread is not done, wait and count the graph changes
while (future.wait_for(std::chrono::seconds(0)) != std::future_status::ready) {
ret = rcl_wait_set_clear(this->wait_set_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, time_to_sleep.count());
if (RCL_RET_TIMEOUT == ret) {
break;
} else {
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
"waiting for no graph change condition ...");
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
"waiting up to '%s' nanoseconds for graph changes",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
if (ret == RCL_RET_TIMEOUT) {
continue;
}
graph_changes_count++;
}
ASSERT_NE(idx, 100);

// Graph change since creating the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
ret = rcl_publisher_init(
&pub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since destroying the publisher
ret = rcl_publisher_fini(&pub, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since creating the subscription
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since destroying the subscription
ret = rcl_subscription_fini(&sub, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since creating service
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
ret = rcl_service_init(
&service,
node_ptr,
ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes),
"test_graph_guard_condition_service",
&service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since destroy service
ret = rcl_service_fini(&service, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since creating client
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(
&client,
node_ptr,
ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes),
"test_graph_guard_condition_service",
&client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since destroying client
ret = rcl_client_fini(&client, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Graph change since adding new node
rcl_node_t node_new = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&node_new, "test_graph2", "", context_ptr, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

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

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK);
}

// Should not get graph change if no change
{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_TIMEOUT);
}
topic_thread.join();
// expect at least 4 changes
ASSERT_GE(graph_changes_count, 4ul);
}

/* Test the rcl_service_server_is_available function.
Expand Down