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

Aggregate all component manager API tests. #876

Merged
merged 1 commit into from
Sep 26, 2019
Merged

Aggregate all component manager API tests. #876

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
147 changes: 46 additions & 101 deletions rclcpp_components/test/test_component_manager_api.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,9 @@ class TestComponentManager : public ::testing::Test
}
};

TEST_F(TestComponentManager, load_components)
// TODO(hidmic): split up tests once Node bring up/tear down races
// are solved https://github.com/ros2/rclcpp/issues/863
TEST_F(TestComponentManager, components_api)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto node = rclcpp::Node::make_shared("test_component_manager");
Expand Down Expand Up @@ -111,34 +113,6 @@ TEST_F(TestComponentManager, load_components)
EXPECT_EQ(result.get()->unique_id, 4u);
}

auto node_names = node->get_node_names();

auto find_in_nodes = [node_names](std::string name) {
return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
};

EXPECT_TRUE(find_in_nodes("/test_component_foo"));
EXPECT_TRUE(find_in_nodes("/test_component_bar"));
EXPECT_TRUE(find_in_nodes("/test_component_baz"));
EXPECT_TRUE(find_in_nodes("/ns/test_component_bing"));
}

TEST_F(TestComponentManager, load_invalid_components)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto node = rclcpp::Node::make_shared("test_component_manager");
auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);

exec->add_node(manager);
exec->add_node(node);

auto client = node->create_client<composition_interfaces::srv::LoadNode>(
"/ComponentManager/_container/load_node");

if (!client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
}

{
// Valid package, but invalid class name.
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
Expand Down Expand Up @@ -168,40 +142,17 @@ TEST_F(TestComponentManager, load_invalid_components)
EXPECT_EQ(result.get()->full_node_name, "");
EXPECT_EQ(result.get()->unique_id, 0u);
}
}


TEST_F(TestComponentManager, list_components)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto node = rclcpp::Node::make_shared("test_component_manager");
auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);

exec->add_node(manager);
exec->add_node(node);

{
auto client = node->create_client<composition_interfaces::srv::LoadNode>(
"/ComponentManager/_container/load_node");

if (!client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
}
auto node_names = node->get_node_names();

{
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
auto find_in_nodes = [node_names](std::string name) {
return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
};

auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
EXPECT_EQ(result.get()->unique_id, 1u);
}
}
EXPECT_TRUE(find_in_nodes("/test_component_foo"));
EXPECT_TRUE(find_in_nodes("/test_component_bar"));
EXPECT_TRUE(find_in_nodes("/test_component_baz"));
EXPECT_TRUE(find_in_nodes("/ns/test_component_bing"));

{
auto client = node->create_client<composition_interfaces::srv::ListNodes>(
Expand All @@ -219,51 +170,18 @@ TEST_F(TestComponentManager, list_components)
auto node_names = result.get()->full_node_names;
auto unique_ids = result.get()->unique_ids;

EXPECT_EQ(node_names.size(), 1u);
EXPECT_EQ(node_names.size(), 4u);
EXPECT_EQ(node_names[0], "/test_component_foo");
EXPECT_EQ(unique_ids.size(), 1u);
EXPECT_EQ(node_names[1], "/test_component_bar");
EXPECT_EQ(node_names[2], "/test_component_baz");
EXPECT_EQ(node_names[3], "/ns/test_component_bing");
EXPECT_EQ(unique_ids.size(), 4u);
EXPECT_EQ(unique_ids[0], 1u);
EXPECT_EQ(unique_ids[1], 2u);
EXPECT_EQ(unique_ids[2], 3u);
EXPECT_EQ(unique_ids[3], 4u);
}
}
}

TEST_F(TestComponentManager, unload_component)
{
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto node = rclcpp::Node::make_shared("test_component_manager");
auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);

exec->add_node(manager);
exec->add_node(node);

{
auto client = node->create_client<composition_interfaces::srv::LoadNode>(
"/ComponentManager/_container/load_node");

if (!client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
}

{
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";

auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
EXPECT_EQ(result.get()->unique_id, 1u);
}
}

auto node_names = node->get_node_names();
auto find_in_nodes = [node_names](std::string name) {
return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
};
EXPECT_TRUE(find_in_nodes("/test_component_foo"));

{
auto client = node->create_client<composition_interfaces::srv::UnloadNode>(
Expand Down Expand Up @@ -295,4 +213,31 @@ TEST_F(TestComponentManager, unload_component)
EXPECT_EQ(result.get()->error_message, "No node found with unique_id: 1");
}
}

{
auto client = node->create_client<composition_interfaces::srv::ListNodes>(
"/ComponentManager/_container/list_nodes");

if (!client->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
}

{
auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
auto node_names = result.get()->full_node_names;
auto unique_ids = result.get()->unique_ids;

EXPECT_EQ(node_names.size(), 3u);
EXPECT_EQ(node_names[0], "/test_component_bar");
EXPECT_EQ(node_names[1], "/test_component_baz");
EXPECT_EQ(node_names[2], "/ns/test_component_bing");
EXPECT_EQ(unique_ids.size(), 3u);
EXPECT_EQ(unique_ids[0], 2u);
EXPECT_EQ(unique_ids[1], 3u);
EXPECT_EQ(unique_ids[2], 4u);
}
}
}