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Improve test coverage of rclcpp_callback_register in test_tracetools #69

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merged 1 commit into from
May 3, 2023
Merged

Improve test coverage of rclcpp_callback_register in test_tracetools #69

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24 changes: 24 additions & 0 deletions test_tracetools/test/test_subscription.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ def __init__(self, *args) -> None:
tp.rcl_subscription_init,
tp.rclcpp_subscription_init,
tp.rclcpp_subscription_callback_added,
tp.rclcpp_callback_register,
tp.rclcpp_executor_execute,
tp.rmw_take,
tp.rcl_take,
Expand All @@ -56,6 +57,7 @@ def test_all(self):
callback_added_events = self.get_events_with_name(
tp.rclcpp_subscription_callback_added,
)
callback_register_events = self.get_events_with_name(tp.rclcpp_callback_register)
execute_events = self.get_events_with_name(tp.rclcpp_executor_execute)
rmw_take_events = self.get_events_with_name(tp.rmw_take)
rcl_take_events = self.get_events_with_name(tp.rcl_take)
Expand All @@ -80,6 +82,9 @@ def test_all(self):
)
for event in callback_added_events:
self.assertValidHandle(event, ['subscription', 'callback'])
for event in callback_register_events:
self.assertValidPointer(event, 'callback')
self.assertStringFieldNotEmpty(event, 'symbol')
for event in rmw_take_events:
self.assertValidHandle(event, ['rmw_subscription_handle'])
self.assertValidPointer(event, ['message'])
Expand Down Expand Up @@ -179,12 +184,31 @@ def test_all(self):
)
callback_added_matching_event = callback_added_matching_events[0]

# Check that callback pointer matches between callback_added and callback_register
callback_handle = self.get_field(callback_added_matching_event, 'callback')
test_sub_node_callback_register_events = self.get_events_with_procname(
'test_ping',
callback_register_events,
)
callback_register_matching_events = self.get_events_with_field_value(
'callback',
callback_handle,
test_sub_node_callback_register_events,
)
self.assertNumEventsEqual(
callback_register_matching_events,
1,
'none or more than 1 matching callback_register events for the test topic',
)
callback_register_matching_event = callback_register_matching_events[0]

# Check susbcription creation events order
self.assertEventOrder([
rmw_sub_init_event,
test_rcl_sub_init_event,
rclcpp_sub_init_matching_event,
callback_added_matching_event,
callback_register_matching_event,
])

# Get executor_execute and *_take events, there should only be one message received
Expand Down
92 changes: 69 additions & 23 deletions test_tracetools/test/test_timer.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ def __init__(self, *args) -> None:
tp.rcl_node_init,
tp.rcl_timer_init,
tp.rclcpp_timer_callback_added,
tp.rclcpp_callback_register,
tp.rclcpp_timer_link_node,
tp.rclcpp_executor_execute,
tp.callback_start,
Expand All @@ -45,8 +46,8 @@ def test_all(self):
self.assertEventsSet(self._events_ros)

# Check fields
init_events = self.get_events_with_name(tp.rcl_timer_init)
for event in init_events:
timer_init_events = self.get_events_with_name(tp.rcl_timer_init)
for event in timer_init_events:
self.assertValidHandle(event, 'timer_handle')
period_value = self.get_field(event, 'period')
self.assertIsInstance(period_value, int)
Expand All @@ -56,6 +57,11 @@ def test_all(self):
for event in callback_added_events:
self.assertValidHandle(event, ['timer_handle', 'callback'])

callback_register_events = self.get_events_with_name(tp.rclcpp_callback_register)
for event in callback_register_events:
self.assertValidPointer(event, 'callback')
self.assertStringFieldNotEmpty(event, 'symbol')

link_node_events = self.get_events_with_name(tp.rclcpp_timer_link_node)
for event in link_node_events:
self.assertValidHandle(event, ['timer_handle', 'node_handle'])
Expand All @@ -80,56 +86,96 @@ def test_all(self):
self.assertValidHandle(event, 'callback')

# Find and check given timer period
test_timer_init_event = self.get_events_with_procname('test_timer', init_events)
self.assertNumEventsEqual(test_timer_init_event, 1, 'none or more test timer init events')
test_init_event = test_timer_init_event[0]
self.assertFieldEquals(test_init_event, 'period', 1000000, 'invalid period')
timer_handle = self.get_field(test_init_event, 'timer_handle')
self.assertNumEventsEqual(timer_init_events, 1, 'none or more test timer init events')
test_timer_init_event = timer_init_events[0]
self.assertFieldEquals(test_timer_init_event, 'period', 1000000, 'invalid period')
timer_handle = self.get_field(test_timer_init_event, 'timer_handle')

# Check that the timer_init:callback_added pair exists and has a common timer handle
self.assertMatchingField(
test_init_event,
test_callback_added_events = self.get_events_with_field_value(
'timer_handle',
None,
timer_handle,
callback_added_events,
)
callback_added_event = callback_added_events[0]
self.assertNumEventsEqual(
test_callback_added_events,
1,
'none or more than 1 matching callback_added events for the test timer',
)
test_callback_added_event = test_callback_added_events[0]

# Check that callback pointer matches between callback_added and callback_register
callback_handle = self.get_field(test_callback_added_event, 'callback')
test_callback_register_events = self.get_events_with_field_value(
'callback',
callback_handle,
callback_register_events,
)
self.assertNumEventsEqual(
test_callback_register_events,
1,
'none or more than 1 matching callback_register events for the test topic',
)
test_callback_register_event = test_callback_register_events[0]

# Check that there is a link_node event for the timer
self.assertMatchingField(
test_init_event,
test_link_node_events = self.get_events_with_field_value(
'timer_handle',
None,
timer_handle,
link_node_events,
)
self.assertNumEventsEqual(
test_link_node_events,
1,
'none or more than 1 matching timer_link_node events for the test timer',
)
test_link_node_event = test_link_node_events[0]

# And that the node from that node handle exists
node_handle = self.get_field(test_link_node_event, 'node_handle')
node_init_events = self.get_events_with_name(tp.rcl_node_init)
self.assertNumEventsEqual(node_init_events, 1)
node_init_event = node_init_events[0]
self.assertMatchingField(
node_init_event,
test_node_inits_events = self.get_events_with_field_value(
'node_handle',
None,
link_node_events,
node_handle,
node_init_events,
)
self.assertNumEventsEqual(
test_node_inits_events,
1,
'none or more than 1 matching node_init events for the test timer',
)
test_node_inits_event = test_node_inits_events[0]

# Check timer creation events order
self.assertEventOrder([
test_node_inits_event,
test_timer_init_event,
test_callback_added_event,
test_callback_register_event,
test_link_node_event,
])

# Check that there are 2 executor execute events for the timer
timer_execute_events = self.get_events_with_field_value(
'handle',
timer_handle,
executor_execute_events,
)
self.assertNumEventsEqual(timer_execute_events, 2)
self.assertNumEventsEqual(
timer_execute_events,
2,
'not 2 executor_execute events for the test timer',
)

# Check that the callback events correspond to the registered timer callback
self.assertMatchingField(
callback_added_event,
test_callback_added_event,
'callback',
None,
start_events,
)
self.assertMatchingField(
callback_added_event,
test_callback_added_event,
'callback',
None,
end_events,
Expand Down
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