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Skip some tests in test_qos_event and run others with event types sup…
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…ported by rmw_zenoh (#2626)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Co-authored-by: Yadunund <[email protected]>
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@ahcorde @Yadunund
ahcorde and Yadunund authored Sep 30, 2024
1 parent 1f408e3 commit 51dfdc3
Showing 1 changed file with 116 additions and 96 deletions.
212 changes: 116 additions & 96 deletions rclcpp/test/rclcpp/test_qos_event.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,13 +33,14 @@ using namespace std::chrono_literals;
class TestQosEvent : public ::testing::Test
{
protected:
static void SetUpTestCase()
void SetUp()
{
// We initialize and shutdown the context (and hence also the rmw_context),
// for each test case to reset the ROS graph for each test case.
rclcpp::init(0, nullptr);
}

void SetUp()
{
rmw_implementation_str = std::string(rmw_get_implementation_identifier());

node = std::make_shared<rclcpp::Node>("test_qos_event", "/ns");

message_callback = [node = node.get()](test_msgs::msg::Empty::ConstSharedPtr /*msg*/) {
Expand All @@ -50,13 +51,10 @@ class TestQosEvent : public ::testing::Test
void TearDown()
{
node.reset();
}

static void TearDownTestCase()
{
rclcpp::shutdown();
}

std::string rmw_implementation_str;
static constexpr char topic_name[] = "test_topic";
rclcpp::Node::SharedPtr node;
std::function<void(test_msgs::msg::Empty::ConstSharedPtr)> message_callback;
Expand All @@ -75,28 +73,29 @@ TEST_F(TestQosEvent, test_publisher_constructor)
auto publisher = node->create_publisher<test_msgs::msg::Empty>(
topic_name, 10, options);

// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
[node = node.get()](rclcpp::QOSDeadlineOfferedInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Offered deadline missed - total %d (delta %d)",
event.total_count, event.total_count_change);
};
publisher = node->create_publisher<test_msgs::msg::Empty>(
topic_name, 10, options);

// options arg with two of the callbacks
options.event_callbacks.liveliness_callback =
[node = node.get()](rclcpp::QOSLivelinessLostInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Liveliness lost - total %d (delta %d)",
event.total_count, event.total_count_change);
};
publisher = node->create_publisher<test_msgs::msg::Empty>(
topic_name, 10, options);

if (rmw_implementation_str != "rmw_zenoh_cpp") {
// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
[node = node.get()](rclcpp::QOSDeadlineOfferedInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Offered deadline missed - total %d (delta %d)",
event.total_count, event.total_count_change);
};
publisher = node->create_publisher<test_msgs::msg::Empty>(
topic_name, 10, options);

// options arg with two of the callbacks
options.event_callbacks.liveliness_callback =
[node = node.get()](rclcpp::QOSLivelinessLostInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Liveliness lost - total %d (delta %d)",
event.total_count, event.total_count_change);
};
publisher = node->create_publisher<test_msgs::msg::Empty>(
topic_name, 10, options);
}
// options arg with three of the callbacks
options.event_callbacks.incompatible_qos_callback =
[node = node.get()](rclcpp::QOSOfferedIncompatibleQoSInfo & event) {
Expand All @@ -114,35 +113,38 @@ TEST_F(TestQosEvent, test_publisher_constructor)
*/
TEST_F(TestQosEvent, test_subscription_constructor)
{
// While rmw_zenoh does not support Deadline/LivelinessChanged events,
// it does support IncompatibleQoS
rclcpp::SubscriptionOptions options;

// options arg with no callbacks
auto subscription = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, options);

// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
[node = node.get()](rclcpp::QOSDeadlineRequestedInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Requested deadline missed - total %d (delta %d)",
event.total_count, event.total_count_change);
};
subscription = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, options);

// options arg with two of the callbacks
options.event_callbacks.liveliness_callback =
[node = node.get()](rclcpp::QOSLivelinessChangedInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Liveliness changed - alive %d (delta %d), not alive %d (delta %d)",
event.alive_count, event.alive_count_change,
event.not_alive_count, event.not_alive_count_change);
};
subscription = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, options);

if (rmw_implementation_str != "rmw_zenoh_cpp") {
// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
[node = node.get()](rclcpp::QOSDeadlineRequestedInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Requested deadline missed - total %d (delta %d)",
event.total_count, event.total_count_change);
};
subscription = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, options);

// options arg with two of the callbacks
options.event_callbacks.liveliness_callback =
[node = node.get()](rclcpp::QOSLivelinessChangedInfo & event) {
RCLCPP_INFO(
node->get_logger(),
"Liveliness changed - alive %d (delta %d), not alive %d (delta %d)",
event.alive_count, event.alive_count_change,
event.not_alive_count, event.not_alive_count_change);
};
subscription = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, options);
}
// options arg with three of the callbacks
options.event_callbacks.incompatible_qos_callback =
[node = node.get()](rclcpp::QOSRequestedIncompatibleQoSInfo & event) {
Expand Down Expand Up @@ -209,14 +211,19 @@ TEST_F(TestQosEvent, test_default_incompatible_qos_callbacks)
const auto timeout = std::chrono::seconds(10);
ex.spin_until_future_complete(log_msgs_future, timeout);

EXPECT_EQ(
"New subscription discovered on topic '/ns/test_topic', requesting incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
pub_log_msg);
EXPECT_EQ(
"New publisher discovered on topic '/ns/test_topic', offering incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
sub_log_msg);
if (rmw_implementation_str == "rmw_zenoh_cpp") {
EXPECT_EQ(rclcpp::QoSCompatibility::Ok,
qos_check_compatible(qos_profile_publisher, qos_profile_subscription).compatibility);
} else {
EXPECT_EQ(
"New subscription discovered on topic '/ns/test_topic', requesting incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
pub_log_msg);
EXPECT_EQ(
"New publisher discovered on topic '/ns/test_topic', offering incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
sub_log_msg);
}

rcutils_logging_set_output_handler(original_output_handler);
}
Expand All @@ -228,7 +235,8 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {

// This callback requires some type of parameter, but it could be anything
auto callback = [](int) {};
const rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
const rcl_publisher_event_type_t event_type = rmw_implementation_str == "rmw_zenoh_cpp" ?
RCL_PUBLISHER_MATCHED : RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;

{
// Logs error and returns
Expand Down Expand Up @@ -265,13 +273,16 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
}

TEST_F(TestQosEvent, execute) {
if (rmw_implementation_str == "rmw_zenoh_cpp") {
GTEST_SKIP();
}
auto publisher = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
auto rcl_handle = publisher->get_publisher_handle();

bool handler_callback_executed = false;
// This callback requires some type of parameter, but it could be anything
auto callback = [&handler_callback_executed](int) {handler_callback_executed = true;};
rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
const rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;

rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
callback, rcl_publisher_event_init, rcl_handle, event_type);
Expand All @@ -297,8 +308,9 @@ TEST_F(TestQosEvent, add_to_wait_set) {
// This callback requires some type of parameter, but it could be anything
auto callback = [](int) {};

rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
const rcl_publisher_event_type_t event_type = rmw_implementation_str == "rmw_zenoh_cpp" ?
RCL_PUBLISHER_MATCHED : RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
callback, rcl_publisher_event_init, rcl_handle, event_type);

EXPECT_EQ(1u, handler.get_number_of_ready_events());
Expand All @@ -319,6 +331,10 @@ TEST_F(TestQosEvent, add_to_wait_set) {

TEST_F(TestQosEvent, test_on_new_event_callback)
{
if (rmw_implementation_str == "rmw_zenoh_cpp") {
GTEST_SKIP();
}

auto offered_deadline = rclcpp::Duration(std::chrono::milliseconds(1));
auto requested_deadline = rclcpp::Duration(std::chrono::milliseconds(2));

Expand Down Expand Up @@ -364,18 +380,19 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
auto dummy_cb = [](size_t count_events) {(void)count_events;};

EXPECT_NO_THROW(
pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED));
if (rmw_implementation_str != "rmw_zenoh_cpp") {
EXPECT_NO_THROW(
pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED));

EXPECT_NO_THROW(
pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED));
EXPECT_NO_THROW(
pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED));

EXPECT_NO_THROW(
pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_LIVELINESS_LOST));
EXPECT_NO_THROW(
pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_LIVELINESS_LOST));

EXPECT_NO_THROW(
EXPECT_NO_THROW(
pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_LIVELINESS_LOST));

}
EXPECT_NO_THROW(
pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS));

Expand All @@ -388,18 +405,19 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
EXPECT_NO_THROW(
pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_MATCHED));

EXPECT_NO_THROW(
sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));
if (rmw_implementation_str == "rmw_zenoh_cpp") {
EXPECT_NO_THROW(
sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));

EXPECT_NO_THROW(
sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));
EXPECT_NO_THROW(
sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));

EXPECT_NO_THROW(
sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_LIVELINESS_CHANGED));

EXPECT_NO_THROW(
sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_LIVELINESS_CHANGED));
EXPECT_NO_THROW(
sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_LIVELINESS_CHANGED));

EXPECT_NO_THROW(
sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_LIVELINESS_CHANGED));
}
EXPECT_NO_THROW(
sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS));

Expand All @@ -412,24 +430,26 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
EXPECT_NO_THROW(
sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_MATCHED));

std::function<void(size_t)> invalid_cb;
if (rmw_implementation_str != "rmw_zenoh_cpp") {
std::function<void(size_t)> invalid_cb;

rclcpp::SubscriptionOptions sub_options;
sub_options.event_callbacks.deadline_callback = [](auto) {};
sub = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, sub_options);
rclcpp::SubscriptionOptions sub_options;
sub_options.event_callbacks.deadline_callback = [](auto) {};
sub = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, sub_options);

EXPECT_THROW(
sub->set_on_new_qos_event_callback(invalid_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED),
std::invalid_argument);
EXPECT_THROW(
sub->set_on_new_qos_event_callback(invalid_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED),
std::invalid_argument);

rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.deadline_callback = [](auto) {};
pub = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10, pub_options);
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.deadline_callback = [](auto) {};
pub = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10, pub_options);

EXPECT_THROW(
pub->set_on_new_qos_event_callback(invalid_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
std::invalid_argument);
EXPECT_THROW(
pub->set_on_new_qos_event_callback(invalid_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
std::invalid_argument);
}
}

TEST_F(TestQosEvent, test_pub_matched_event_by_set_event_callback)
Expand Down

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