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Improve tracetools_test and simplify test_tracetools code (#109)
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Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
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@christophebedard
christophebedard committed Apr 15, 2024
1 parent 863e61b commit aa7dcba
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Showing 13 changed files with 291 additions and 307 deletions.
17 changes: 7 additions & 10 deletions test_tracetools/test/test_buffer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,32 +56,29 @@ def test_all(self):
# Check corresponding events for construct_buffer_event
for construct_event in construct_buffer_events:
target_buffer = self.get_field(construct_event, 'buffer')
target_buffer_to_ipb_event = self.get_events_with_field_value(
target_buffer_to_ipb_event = self.get_event_with_field_value_and_assert(
'buffer',
target_buffer,
buffer_to_ipb_events,
allow_multiple=False,
)
# Only 1 for our given buffer
self.assertNumEventsEqual(target_buffer_to_ipb_event, 1)

target_ipb = self.get_field(target_buffer_to_ipb_event[0], 'ipb')
target_ipb_to_subscription_event = self.get_events_with_field_value(
target_ipb = self.get_field(target_buffer_to_ipb_event, 'ipb')
target_ipb_to_subscription_event = self.get_event_with_field_value_and_assert(
'ipb',
target_ipb,
ipb_to_subscription_events,
allow_multiple=False,
)

# Only 1 for our given ipb
self.assertNumEventsEqual(target_ipb_to_subscription_event, 1)

# Check subscription init order
# * rclcpp_construct_ring_buffer
# * rclcpp_buffer_to_ipb
# * rclcpp_ipb_to_subscription
self.assertEventOrder([
construct_event,
target_buffer_to_ipb_event[0],
target_ipb_to_subscription_event[0],
target_buffer_to_ipb_event,
target_ipb_to_subscription_event,
])


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120 changes: 48 additions & 72 deletions test_tracetools/test/test_generic_pub_sub.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,40 +53,36 @@ def test_all(self):
rmw_pub_init_events = self.get_events_with_name(tp.rmw_publisher_init)
rmw_sub_init_events = self.get_events_with_name(tp.rmw_subscription_init)
publisher_init_events = self.get_events_with_name(tp.rcl_publisher_init)
ping_publisher_init_events = self.get_events_with_field_value(
ping_publisher_init_event = self.get_event_with_field_value_and_assert(
'topic_name',
'/ping',
publisher_init_events,
allow_multiple=False,
)
pong_publisher_init_events = self.get_events_with_field_value(
pong_publisher_init_event = self.get_event_with_field_value_and_assert(
'topic_name',
'/pong',
publisher_init_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_publisher_init_events, 1)
self.assertNumEventsEqual(pong_publisher_init_events, 1)
ping_publisher_init_event = ping_publisher_init_events[0]
pong_publisher_init_event = pong_publisher_init_events[0]
ping_pub_handle = self.get_field(ping_publisher_init_event, 'publisher_handle')
ping_rmw_pub_handle = self.get_field(ping_publisher_init_event, 'rmw_publisher_handle')
pong_pub_handle = self.get_field(pong_publisher_init_event, 'publisher_handle')
pong_rmw_pub_handle = self.get_field(pong_publisher_init_event, 'rmw_publisher_handle')

# Find corresponding rmw_pub_init events
ping_rmw_pub_init_events = self.get_events_with_field_value(
ping_rmw_pub_init_event = self.get_event_with_field_value_and_assert(
'rmw_publisher_handle',
ping_rmw_pub_handle,
rmw_pub_init_events,
allow_multiple=False,
)
pong_rmw_pub_init_events = self.get_events_with_field_value(
pong_rmw_pub_init_event = self.get_event_with_field_value_and_assert(
'rmw_publisher_handle',
pong_rmw_pub_handle,
rmw_pub_init_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_rmw_pub_init_events, 1)
self.assertNumEventsEqual(pong_rmw_pub_init_events, 1)
ping_rmw_pub_init_event = ping_rmw_pub_init_events[0]
pong_rmw_pub_init_event = pong_rmw_pub_init_events[0]

# Check publisher init order (rmw then rcl)
self.assertEventOrder([
Expand All @@ -100,72 +96,64 @@ def test_all(self):

# Get corresponding rmw/rcl/rclcpp publish events for ping & pong
rmw_publish_events = self.get_events_with_name(tp.rmw_publish)
ping_rmw_pub_events = self.get_events_with_field_value(
ping_rmw_pub_event = self.get_event_with_field_value_and_assert(
'rmw_publisher_handle',
ping_rmw_pub_handle,
rmw_publish_events,
allow_multiple=False,
)
pong_rmw_pub_events = self.get_events_with_field_value(
pong_rmw_pub_event = self.get_event_with_field_value_and_assert(
'rmw_publisher_handle',
pong_rmw_pub_handle,
rmw_publish_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_rmw_pub_events, 1)
self.assertNumEventsEqual(pong_rmw_pub_events, 1)
ping_rmw_pub_event = ping_rmw_pub_events[0]
pong_rmw_pub_event = pong_rmw_pub_events[0]
ping_pub_message = self.get_field(ping_rmw_pub_event, 'message')
pong_pub_message = self.get_field(pong_rmw_pub_event, 'message')

rclcpp_publish_events = self.get_events_with_name(tp.rclcpp_publish)
rcl_publish_events = self.get_events_with_name(tp.rcl_publish)
ping_rclcpp_pub_events = self.get_events_with_field_value(
ping_rclcpp_pub_event = self.get_event_with_field_value_and_assert(
'message',
ping_pub_message,
rclcpp_publish_events,
allow_multiple=False,
)
pong_rclcpp_pub_events = self.get_events_with_field_value(
pong_rclcpp_pub_event = self.get_event_with_field_value_and_assert(
'message',
pong_pub_message,
rclcpp_publish_events,
allow_multiple=False,
)
ping_rcl_pub_events = self.get_events_with_field_value(
ping_rcl_pub_event = self.get_event_with_field_value_and_assert(
'message',
ping_pub_message,
rcl_publish_events,
allow_multiple=False,
)
pong_rcl_pub_events = self.get_events_with_field_value(
pong_rcl_pub_event = self.get_event_with_field_value_and_assert(
'message',
pong_pub_message,
rcl_publish_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_rclcpp_pub_events, 1)
self.assertNumEventsEqual(pong_rclcpp_pub_events, 1)
self.assertNumEventsEqual(ping_rcl_pub_events, 1)
self.assertNumEventsEqual(pong_rcl_pub_events, 1)
ping_rclcpp_pub_event = ping_rclcpp_pub_events[0]
pong_rclcpp_pub_event = pong_rclcpp_pub_events[0]
ping_rcl_pub_event = ping_rcl_pub_events[0]
pong_rcl_pub_event = pong_rcl_pub_events[0]
self.assertFieldEquals(ping_rcl_pub_event, 'publisher_handle', ping_pub_handle)
self.assertFieldEquals(pong_rcl_pub_event, 'publisher_handle', pong_pub_handle)

# Get subscription init events & subscription handles of test topics
rcl_subscription_init_events = self.get_events_with_name(tp.rcl_subscription_init)
ping_rcl_subscription_init_events = self.get_events_with_field_value(
ping_rcl_subscription_init_event = self.get_event_with_field_value_and_assert(
'topic_name',
'/ping',
rcl_subscription_init_events,
allow_multiple=False,
)
pong_rcl_subscription_init_events = self.get_events_with_field_value(
pong_rcl_subscription_init_event = self.get_event_with_field_value_and_assert(
'topic_name',
'/pong',
rcl_subscription_init_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_rcl_subscription_init_events, 1)
self.assertNumEventsEqual(pong_rcl_subscription_init_events, 1)
ping_rcl_subscription_init_event = ping_rcl_subscription_init_events[0]
pong_rcl_subscription_init_event = pong_rcl_subscription_init_events[0]
ping_sub_handle = self.get_field(ping_rcl_subscription_init_event, 'subscription_handle')
ping_rmw_sub_handle = \
self.get_field(ping_rcl_subscription_init_event, 'rmw_subscription_handle')
Expand All @@ -174,79 +162,71 @@ def test_all(self):
self.get_field(pong_rcl_subscription_init_event, 'rmw_subscription_handle')

# Find corresponding rmw_sub_init events
ping_rmw_sub_init_events = self.get_events_with_field_value(
ping_rmw_sub_init_event = self.get_event_with_field_value_and_assert(
'rmw_subscription_handle',
ping_rmw_sub_handle,
rmw_sub_init_events,
allow_multiple=False,
)
pong_rmw_sub_init_events = self.get_events_with_field_value(
pong_rmw_sub_init_event = self.get_event_with_field_value_and_assert(
'rmw_subscription_handle',
pong_rmw_sub_handle,
rmw_sub_init_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_rmw_sub_init_events, 1)
self.assertNumEventsEqual(pong_rmw_sub_init_events, 1)
ping_rmw_sub_init_event = ping_rmw_sub_init_events[0]
pong_rmw_sub_init_event = pong_rmw_sub_init_events[0]

# Get corresponding subscription objects
rclcpp_subscription_init_events = self.get_events_with_name(
tp.rclcpp_subscription_init,
)
ping_rclcpp_subscription_init_events = self.get_events_with_field_value(
ping_rclcpp_subscription_init_event = self.get_event_with_field_value_and_assert(
'subscription_handle',
ping_sub_handle,
rclcpp_subscription_init_events,
allow_multiple=False,
)
pong_rclcpp_subscription_init_events = self.get_events_with_field_value(
pong_rclcpp_subscription_init_event = self.get_event_with_field_value_and_assert(
'subscription_handle',
pong_sub_handle,
rclcpp_subscription_init_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_rclcpp_subscription_init_events, 1)
self.assertNumEventsEqual(pong_rclcpp_subscription_init_events, 1)
ping_rclcpp_subscription_init_event = ping_rclcpp_subscription_init_events[0]
pong_rclcpp_subscription_init_event = pong_rclcpp_subscription_init_events[0]
ping_sub_object = self.get_field(ping_rclcpp_subscription_init_event, 'subscription')
pong_sub_object = self.get_field(pong_rclcpp_subscription_init_event, 'subscription')

# Get corresponding subscription callback objects
rclcpp_subscription_callback_events = self.get_events_with_name(
tp.rclcpp_subscription_callback_added,
)
ping_rclcpp_subscription_callback_events = self.get_events_with_field_value(
ping_rclcpp_subscription_callback_event = self.get_event_with_field_value_and_assert(
'subscription',
ping_sub_object,
rclcpp_subscription_callback_events,
allow_multiple=False,
)
pong_rclcpp_subscription_callback_events = self.get_events_with_field_value(
pong_rclcpp_subscription_callback_event = self.get_event_with_field_value_and_assert(
'subscription',
pong_sub_object,
rclcpp_subscription_callback_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_rclcpp_subscription_callback_events, 1)
self.assertNumEventsEqual(pong_rclcpp_subscription_callback_events, 1)
ping_rclcpp_subscription_callback_event = ping_rclcpp_subscription_callback_events[0]
pong_rclcpp_subscription_callback_event = pong_rclcpp_subscription_callback_events[0]
ping_callback_object = self.get_field(ping_rclcpp_subscription_callback_event, 'callback')
pong_callback_object = self.get_field(pong_rclcpp_subscription_callback_event, 'callback')

# Get rmw_take events
rmw_take_events = self.get_events_with_name(tp.rmw_take)
pong_rmw_take_events = self.get_events_with_field_value(
pong_rmw_take_event = self.get_event_with_field_value_and_assert(
'rmw_subscription_handle',
pong_rmw_sub_handle,
rmw_take_events,
allow_multiple=False,
)
ping_rmw_take_events = self.get_events_with_field_value(
ping_rmw_take_event = self.get_event_with_field_value_and_assert(
'rmw_subscription_handle',
ping_rmw_sub_handle,
rmw_take_events,
allow_multiple=False,
)
self.assertNumEventsEqual(pong_rmw_take_events, 1)
self.assertNumEventsEqual(ping_rmw_take_events, 1)
pong_rmw_take_event = pong_rmw_take_events[0]
ping_rmw_take_event = ping_rmw_take_events[0]

# Check that pub->sub timestamps match
ping_timestamp = self.get_field(ping_rmw_pub_event, 'timestamp')
Expand All @@ -271,34 +251,30 @@ def test_all(self):
# Get corresponding callback start/end events
callback_start_events = self.get_events_with_name(tp.callback_start)
callback_end_events = self.get_events_with_name(tp.callback_end)
ping_callback_start_events = self.get_events_with_field_value(
ping_callback_start_event = self.get_event_with_field_value_and_assert(
'callback',
ping_callback_object,
callback_start_events,
allow_multiple=False,
)
pong_callback_start_events = self.get_events_with_field_value(
pong_callback_start_event = self.get_event_with_field_value_and_assert(
'callback',
pong_callback_object,
callback_start_events,
allow_multiple=False,
)
ping_callback_end_events = self.get_events_with_field_value(
ping_callback_end_event = self.get_event_with_field_value_and_assert(
'callback',
ping_callback_object,
callback_end_events,
allow_multiple=False,
)
pong_callback_end_events = self.get_events_with_field_value(
pong_callback_end_event = self.get_event_with_field_value_and_assert(
'callback',
pong_callback_object,
callback_end_events,
allow_multiple=False,
)
self.assertNumEventsEqual(ping_callback_start_events, 1)
self.assertNumEventsEqual(pong_callback_start_events, 1)
self.assertNumEventsEqual(ping_callback_end_events, 1)
self.assertNumEventsEqual(pong_callback_end_events, 1)
ping_callback_start_event = ping_callback_start_events[0]
pong_callback_start_event = pong_callback_start_events[0]
ping_callback_end_event = ping_callback_end_events[0]
pong_callback_end_event = pong_callback_end_events[0]

# Check pub/sub order:
# * /ping pub rclcpp_publish
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