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Refactor Subscription Topic Statistics Tests #1281

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merged 5 commits into from
Aug 20, 2020
Merged

Refactor Subscription Topic Statistics Tests #1281

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8fe1b91
Add check for the correct number of messages received
dabonnie Aug 18, 2020
1c128f7
Refactor duplicate code into functions
dabonnie Aug 18, 2020
1c56f08
Fix warning
dabonnie Aug 19, 2020
8be49f0
Fix conversion warnings
dabonnie Aug 19, 2020
3ced484
Fix style issues
dabonnie Aug 20, 2020
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225 changes: 123 additions & 102 deletions rclcpp/test/rclcpp/topic_statistics/test_subscription_topic_statistics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include <chrono>
#include <iostream>
#include <memory>
#include <random>
#include <set>
#include <stdexcept>
#include <string>
Expand Down Expand Up @@ -49,8 +50,13 @@ constexpr const char kTestSubNodeName[]{"test_sub_stats_node"};
constexpr const char kTestSubStatsTopic[]{"/test_sub_stats_topic"};
constexpr const char kTestSubStatsEmptyTopic[]{"/test_sub_stats_empty_topic"};
constexpr const char kTestTopicStatisticsTopic[]{"/test_topic_statistics_topic"};
constexpr const char kMessageAgeSourceLabel[]{"message_age"};
constexpr const char kMessagePeriodSourceLabel[]{"message_period"};
constexpr const uint64_t kNoSamples{0};
constexpr const std::chrono::seconds kTestDuration{10};
constexpr const uint64_t kNumExpectedMessages{8};
constexpr const uint64_t kNumExpectedMessageAgeMessages{kNumExpectedMessages / 2};
constexpr const uint64_t kNumExpectedMessagePeriodMessages{kNumExpectedMessages / 2};
} // namespace

using rclcpp::msg::MessageWithHeader;
Expand All @@ -61,6 +67,10 @@ using statistics_msgs::msg::StatisticDataPoint;
using statistics_msgs::msg::StatisticDataType;
using libstatistics_collector::moving_average_statistics::StatisticData;

/**
* Wrapper class to test and expose parts of the SubscriptionTopicStatistics<T> class.
* \tparam CallbackMessageT
*/
template<typename CallbackMessageT>
class TestSubscriptionTopicStatistics : public SubscriptionTopicStatistics<CallbackMessageT>
{
Expand Down Expand Up @@ -128,21 +138,27 @@ class MessageWithHeaderPublisher : public rclcpp::Node
publish_period, [this]() {
this->publish_message();
});
uniform_dist_ = std::uniform_int_distribution<uint32_t>{1000000, 100000000};
}

virtual ~MessageWithHeaderPublisher() = default;

private:
void publish_message()
{
std::random_device rd;
std::mt19937 gen{rd()};
uint32_t d = uniform_dist_(gen);
auto msg = MessageWithHeader{};
// Subtract 1 sec from current time so the received message age is always > 0
msg.header.stamp = this->now() - rclcpp::Duration{1, 0};
// Subtract ~1 second (add some noise for a non-zero standard deviation)
// so the received message age calculation is always > 0
msg.header.stamp = this->now() - rclcpp::Duration{1, d};
publisher_->publish(msg);
}

rclcpp::Publisher<MessageWithHeader>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr publish_timer_;
std::uniform_int_distribution<uint32_t> uniform_dist_;
};

/**
Expand Down Expand Up @@ -220,6 +236,66 @@ class TestSubscriptionTopicStatisticsFixture : public ::testing::Test
}
};

/**
* Check if a received statistics message is empty (no data was observed)
* \param message_to_check
*/
void check_if_statistics_message_is_empty(const MetricsMessage & message_to_check)
{
for (const auto & stats_point : message_to_check.statistics) {
const auto type = stats_point.data_type;
switch (type) {
case StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT:
EXPECT_EQ(0, stats_point.data) << "unexpected sample count" << stats_point.data;
break;
case StatisticDataType::STATISTICS_DATA_TYPE_AVERAGE:
case StatisticDataType::STATISTICS_DATA_TYPE_MINIMUM:
case StatisticDataType::STATISTICS_DATA_TYPE_MAXIMUM:
case StatisticDataType::STATISTICS_DATA_TYPE_STDDEV:
EXPECT_TRUE(std::isnan(stats_point.data)) << "unexpected value" << stats_point.data <<
" for type:" << type;
break;
default:
FAIL() << "received unknown statistics type: " << std::dec <<
static_cast<unsigned int>(type);
}
}
}

/**
* Check if a received statistics message observed data and contains some calculation
* \param message_to_check
*/
void check_if_statistic_message_is_populated(const MetricsMessage & message_to_check)
{
for (const auto & stats_point : message_to_check.statistics) {
const auto type = stats_point.data_type;
switch (type) {
case StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT:
EXPECT_LT(0, stats_point.data) << "unexpected sample count " << stats_point.data;
break;
case StatisticDataType::STATISTICS_DATA_TYPE_AVERAGE:
EXPECT_LT(0, stats_point.data) << "unexpected avg " << stats_point.data;
break;
case StatisticDataType::STATISTICS_DATA_TYPE_MINIMUM:
EXPECT_LT(0, stats_point.data) << "unexpected mi n" << stats_point.data;
break;
case StatisticDataType::STATISTICS_DATA_TYPE_MAXIMUM:
EXPECT_LT(0, stats_point.data) << "unexpected max " << stats_point.data;
break;
case StatisticDataType::STATISTICS_DATA_TYPE_STDDEV:
EXPECT_LT(0, stats_point.data) << "unexpected stddev " << stats_point.data;
break;
default:
FAIL() << "received unknown statistics type: " << std::dec <<
static_cast<unsigned int>(type);
}
}
}

/**
* Test an invalid argument is thrown for a bad input publish period.
*/
TEST(TestSubscriptionTopicStatistics, test_invalid_publish_period)
{
rclcpp::init(0 /* argc */, nullptr /* argv */);
Expand All @@ -244,6 +320,10 @@ TEST(TestSubscriptionTopicStatistics, test_invalid_publish_period)
rclcpp::shutdown();
}

/**
* Test that we can manually construct the subscription topic statistics utility class
* without any errors and defaults to empty measurements.
*/
TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction)
{
auto empty_subscriber = std::make_shared<EmptySubscriber>(
Expand Down Expand Up @@ -271,6 +351,10 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction)
}
}

/**
* Publish messages that do not have a header timestamp, test that all statistics messages
* were received, and verify the statistics message contents.
*/
TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no_header)
{
// Create an empty publisher
Expand All @@ -284,7 +368,7 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
auto statistics_listener = std::make_shared<rclcpp::topic_statistics::MetricsMessageSubscriber>(
"test_receive_single_empty_stats_message_listener",
"/statistics",
4);
kNumExpectedMessages);

auto empty_subscriber = std::make_shared<EmptySubscriber>(
kTestSubNodeName,
Expand All @@ -301,69 +385,39 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
kTestDuration);

// Compare message counts, sample count should be the same as published and received count
EXPECT_EQ(4, statistics_listener->GetNumberOfMessagesReceived());
EXPECT_EQ(kNumExpectedMessages, statistics_listener->GetNumberOfMessagesReceived());

// Check the received message and the data types
// Check the received message total count
const auto received_messages = statistics_listener->GetReceivedMessages();
EXPECT_EQ(kNumExpectedMessages, received_messages.size());

EXPECT_EQ(4u, received_messages.size());
// check the type of statistics that were received and their counts
uint64_t message_age_count{0};
uint64_t message_period_count{0};

std::set<std::string> received_metrics;
for (const auto & msg : received_messages) {
received_metrics.insert(msg.metrics_source);
if (msg.metrics_source == "message_age") {
message_age_count++;
}
if (msg.metrics_source == "message_period") {
message_period_count++;
}
}
EXPECT_TRUE(received_metrics.find("message_age") != received_metrics.end());
EXPECT_TRUE(received_metrics.find("message_period") != received_metrics.end());
EXPECT_EQ(kNumExpectedMessageAgeMessages, message_age_count);
EXPECT_EQ(kNumExpectedMessagePeriodMessages, message_period_count);

// Check the collected statistics for message period.
// Message age statistics will not be calculated because Empty messages
// don't have a `header` with timestamp.
bool any_samples = false;
// don't have a `header` with timestamp. This means that we expect to receive a `message_age`
// and `message_period` message for each empty message published.
for (const auto & msg : received_messages) {
if (msg.metrics_source != "message_period") {
continue;
}
// skip messages without samples
bool has_samples = false;
for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type;
if (
StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT == type &&
stats_point.data > 0)
{
has_samples = true;
break;
}
}
if (!has_samples) {
continue;
}
any_samples = true;
for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type;
switch (type) {
case StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT:
EXPECT_LT(0, stats_point.data) << "unexpected sample count";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_AVERAGE:
EXPECT_LT(0, stats_point.data) << "unexpected avg";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_MINIMUM:
EXPECT_LT(0, stats_point.data) << "unexpected min";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_MAXIMUM:
EXPECT_LT(0, stats_point.data) << "unexpected max";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_STDDEV:
EXPECT_LT(0, stats_point.data) << "unexpected stddev";
break;
default:
FAIL() << "received unknown statistics type: " << std::dec <<
static_cast<unsigned int>(type);
}
if (msg.metrics_source == kMessageAgeSourceLabel) {
check_if_statistics_message_is_empty(msg);
} else if (msg.metrics_source == kMessagePeriodSourceLabel) {
check_if_statistic_message_is_populated(msg);
}
}
EXPECT_TRUE(any_samples) << "All received metrics messages had zero samples";
}

TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_with_header)
Expand All @@ -379,7 +433,7 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_wi
auto statistics_listener = std::make_shared<rclcpp::topic_statistics::MetricsMessageSubscriber>(
"test_receive_stats_for_message_with_header",
"/statistics",
4);
kNumExpectedMessages);

auto msg_with_header_subscriber = std::make_shared<MessageWithHeaderSubscriber>(
kTestSubNodeName,
Expand All @@ -396,62 +450,29 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_wi
kTestDuration);

// Compare message counts, sample count should be the same as published and received count
EXPECT_EQ(4, statistics_listener->GetNumberOfMessagesReceived());
EXPECT_EQ(kNumExpectedMessages, statistics_listener->GetNumberOfMessagesReceived());

// Check the received message and the data types
// Check the received message total count
const auto received_messages = statistics_listener->GetReceivedMessages();
EXPECT_EQ(kNumExpectedMessages, received_messages.size());

EXPECT_EQ(4u, received_messages.size());
// check the type of statistics that were received and their counts
uint64_t message_age_count{0};
uint64_t message_period_count{0};

std::set<std::string> received_metrics;
for (const auto & msg : received_messages) {
received_metrics.insert(msg.metrics_source);
if (msg.metrics_source == kMessageAgeSourceLabel) {
message_age_count++;
}
if (msg.metrics_source == kMessagePeriodSourceLabel) {
message_period_count++;
}
}
EXPECT_TRUE(received_metrics.find("message_age") != received_metrics.end());
EXPECT_TRUE(received_metrics.find("message_period") != received_metrics.end());
EXPECT_EQ(kNumExpectedMessageAgeMessages, message_age_count);
EXPECT_EQ(kNumExpectedMessagePeriodMessages, message_period_count);

// Check the collected statistics for message period.
bool any_samples = false;
for (const auto & msg : received_messages) {
// skip messages without samples
bool has_samples = false;
for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type;
if (
StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT == type &&
stats_point.data > 0)
{
has_samples = true;
break;
}
}
if (!has_samples) {
continue;
}
any_samples = true;
for (const auto & stats_point : msg.statistics) {
const auto type = stats_point.data_type;
switch (type) {
case StatisticDataType::STATISTICS_DATA_TYPE_SAMPLE_COUNT:
EXPECT_LT(0, stats_point.data) << "unexpected sample count";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_AVERAGE:
EXPECT_LT(0, stats_point.data) << "unexpected avg";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_MINIMUM:
EXPECT_LT(0, stats_point.data) << "unexpected min";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_MAXIMUM:
EXPECT_LT(0, stats_point.data) << "unexpected max";
break;
case StatisticDataType::STATISTICS_DATA_TYPE_STDDEV:
EXPECT_LE(0, stats_point.data) << "unexpected stddev";
break;
default:
FAIL() << "received unknown statistics type: " << std::dec <<
static_cast<unsigned int>(type);
}
}
check_if_statistic_message_is_populated(msg);
}
EXPECT_TRUE(any_samples) << "All received metrics messages had zero samples";
}
8 changes: 4 additions & 4 deletions rclcpp/test/rclcpp/topic_statistics/test_topic_stats_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ class MetricsMessageSubscriber : public rclcpp::Node, public PromiseSetter
MetricsMessageSubscriber(
const std::string & name,
const std::string & topic_name,
const int number_of_messages_to_receive = 2)
const uint64_t number_of_messages_to_receive = 2)
: rclcpp::Node(name),
number_of_messages_to_receive_(number_of_messages_to_receive)
{
Expand Down Expand Up @@ -118,7 +118,7 @@ class MetricsMessageSubscriber : public rclcpp::Node, public PromiseSetter
* Return the number of messages received by this subscriber.
* \return the number of messages received by the subscriber callback
*/
int GetNumberOfMessagesReceived() const
uint64_t GetNumberOfMessagesReceived() const
{
return num_messages_received_;
}
Expand All @@ -142,8 +142,8 @@ class MetricsMessageSubscriber : public rclcpp::Node, public PromiseSetter
std::vector<MetricsMessage> received_messages_;
rclcpp::Subscription<MetricsMessage>::SharedPtr subscription_;
mutable std::mutex mutex_;
std::atomic<int> num_messages_received_{0};
const int number_of_messages_to_receive_;
std::atomic<uint64_t> num_messages_received_{0};
const uint64_t number_of_messages_to_receive_;
};

} // namespace topic_statistics
Expand Down