From e82aa152a6cf1f9394ae106b74a224ba5eb30414 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Mon, 27 May 2019 12:25:52 +0200
Subject: [PATCH] Refs #5453. Added test for multiple participants with
 multiple topics.

---
 test/blackbox/BlackboxTestsDiscovery.cpp | 57 ++++++++++++++++++++----
 test/blackbox/PubSubWriterReader.hpp     | 39 +++++++++++++---
 2 files changed, 83 insertions(+), 13 deletions(-)

diff --git a/test/blackbox/BlackboxTestsDiscovery.cpp b/test/blackbox/BlackboxTestsDiscovery.cpp
index 7bc6ef025b6..232d0f2f974 100644
--- a/test/blackbox/BlackboxTestsDiscovery.cpp
+++ b/test/blackbox/BlackboxTestsDiscovery.cpp
@@ -487,14 +487,14 @@ BLACKBOXTEST(BlackBox, PubSubAsReliableHelloworldUserData)
 BLACKBOXTEST(Discovery, TwentyParticipants)
 {
     // Number of participants
-    unsigned int n = 20;
+    constexpr size_t n_participants = 20;
     // Wait time for discovery
     unsigned int wait_ms = 1500;
 
     std::vector<PubSubWriterReader<HelloWorldType>> pubsub;
-    pubsub.reserve(n);
+    pubsub.reserve(n_participants);
 
-    for (unsigned int i=0; i<n; i++)
+    for (unsigned int i=0; i<n_participants; i++)
     {
         pubsub.emplace_back(TEST_TOPIC_NAME);
     }
@@ -511,10 +511,51 @@ BLACKBOXTEST(Discovery, TwentyParticipants)
 
     for (auto& ps : pubsub)
     {
-        EXPECT_EQ(ps.get_num_discovered_participants(), n-1);
-        EXPECT_EQ(ps.get_num_discovered_publishers(), n);
-        EXPECT_EQ(ps.get_num_discovered_subscribers(), n);
-        EXPECT_EQ(ps.get_publication_matched(), n);
-        EXPECT_EQ(ps.get_subscription_matched(), n);
+        EXPECT_EQ(ps.get_num_discovered_participants(), n_participants - 1);
+        EXPECT_EQ(ps.get_num_discovered_publishers(), n_participants);
+        EXPECT_EQ(ps.get_num_discovered_subscribers(), n_participants);
+        EXPECT_EQ(ps.get_publication_matched(), n_participants);
+        EXPECT_EQ(ps.get_subscription_matched(), n_participants);
+    }
+}
+
+//! Regression for ROS2 #280 and #281
+BLACKBOXTEST(Discovery, TwentyParticipantsSeveralEndpoints)
+{
+    // Number of participants
+    constexpr size_t n_participants = 20;
+    // Number of endpoints
+    constexpr size_t n_topics = 10;
+    // Total number of discovered endpoints
+    constexpr size_t n_total_endpoints = n_participants * n_topics;
+    // Wait time for discovery
+    unsigned int wait_ms = 1500;
+
+    std::vector<PubSubWriterReader<HelloWorldType>> pubsub;
+    pubsub.reserve(n_participants);
+
+    for (unsigned int i = 0; i < n_participants; i++)
+    {
+        pubsub.emplace_back(TEST_TOPIC_NAME);
+    }
+
+    // Initialization of all the participants
+    for (auto& ps : pubsub)
+    {
+        ps.init();
+        ASSERT_EQ(ps.isInitialized(), true);
+        ASSERT_TRUE(ps.create_additional_topics(n_topics - 1));
+    }
+
+    // Give some time so that participants can discover each other
+    std::this_thread::sleep_for(std::chrono::milliseconds(wait_ms));
+
+    for (auto& ps : pubsub)
+    {
+        EXPECT_EQ(ps.get_num_discovered_participants(), n_participants - 1);
+        EXPECT_EQ(ps.get_num_discovered_publishers(), n_total_endpoints);
+        EXPECT_EQ(ps.get_num_discovered_subscribers(), n_total_endpoints);
+        EXPECT_EQ(ps.get_publication_matched(), n_total_endpoints);
+        EXPECT_EQ(ps.get_subscription_matched(), n_total_endpoints);
     }
 }
diff --git a/test/blackbox/PubSubWriterReader.hpp b/test/blackbox/PubSubWriterReader.hpp
index a412d89b26f..ae35ed72426 100644
--- a/test/blackbox/PubSubWriterReader.hpp
+++ b/test/blackbox/PubSubWriterReader.hpp
@@ -284,6 +284,35 @@ class PubSubWriterReader
         }
     }
 
+    bool create_additional_topics(int num_topics)
+    {
+        bool ret_val = initialized_;
+        if (ret_val)
+        {
+            std::string topic_name = publisher_attr_.topic.topicName;
+
+            for (int i = 0; ret_val && (i < num_topics); i++)
+            {
+                topic_name += "/";
+                publisher_attr_.topic.topicName = topic_name;
+                ret_val &=
+                    nullptr != eprosima::fastrtps::Domain::createPublisher(participant_, publisher_attr_, &pub_listener_);
+            }
+
+            topic_name = subscriber_attr_.topic.topicName;
+
+            for (int i = 0; ret_val && (i < num_topics); i++)
+            {
+                topic_name += "/";
+                subscriber_attr_.topic.topicName = topic_name;
+                ret_val &=
+                    nullptr != eprosima::fastrtps::Domain::createSubscriber(participant_, subscriber_attr_, &sub_listener_);
+            }
+        }
+
+        return ret_val;
+    }
+
     bool isInitialized() const { return initialized_; }
 
     void destroy()
@@ -429,17 +458,17 @@ class PubSubWriterReader
         return *this;
     }
 
-    unsigned int get_num_discovered_participants() const
+    size_t get_num_discovered_participants() const
     {
         return participant_listener_.discovered_participants_.size();
     }
 
-    unsigned int get_num_discovered_publishers() const
+    size_t get_num_discovered_publishers() const
     {
         return participant_listener_.discovered_publishers_.size();
     }
 
-    unsigned int get_num_discovered_subscribers() const
+    size_t get_num_discovered_subscribers() const
     {
         return participant_listener_.discovered_subscribers_.size();
     }
@@ -509,13 +538,13 @@ class PubSubWriterReader
         std::cout << std::endl;
     }
 
-    unsigned int get_publication_matched()
+    size_t get_publication_matched()
     {
         std::unique_lock<std::mutex> lock(mutexDiscovery_);
         return matched_writers_.size();
     }
 
-    unsigned int get_subscription_matched()
+    size_t get_subscription_matched()
     {
         std::unique_lock<std::mutex> lock(mutexDiscovery_);
         return matched_readers_.size();