Skip to content

Commit

Permalink
test with gtest of value-parameterized-tests feature
Browse files Browse the repository at this point in the history 
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
  • Loading branch information
@Barry-Xu-2018
Barry-Xu-2018 committed Nov 27, 2019
1 parent 44b0906 commit 8f8c0c6
Showing 1 changed file with 122 additions and 51 deletions.
173 changes: 122 additions & 51 deletions rcl/test/rcl/test_logging_rosout.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -35,14 +35,42 @@
# define CLASSNAME(NAME, SUFFIX) NAME
#endif

class CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION) : public ::testing::Test
#define EXPAND(x) x
#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME(test_fixture_name, \
RMW_IMPLEMENTATION)
#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
#define TEST_P_RMW(test_case_name, test_name) \
APPLY(TEST_P, \
CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
#define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \
EXPAND(APPLY(INSTANTIATE_TEST_CASE_P, instance_name, \
CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))

struct TestParameters
{
int argc;
const char** argv;
bool enable_node_option_rosout;
bool expected_success;
std::string description;
};

// for ::testing::PrintToStringParamName() to show the exact test case name
std::ostream & operator<<(
std::ostream & out,
const TestParameters & params)
{
out << params.description;
return out;
}

class TEST_FIXTURE_P_RMW(TestLoggingRosoutFixture)
: public ::testing::TestWithParam<TestParameters>
{
public:
rcl_context_t * context_ptr;
rcl_node_t * node_ptr;
rcl_subscription_t * subscription_ptr;
void SetUp(int argc, const char* argv[], bool enable_node_option_rosout)
void SetUp()
{
auto param = GetParam();
rcl_ret_t ret;
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
Expand All @@ -53,13 +81,13 @@ class CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION) : public ::testin
this->context_ptr = new rcl_context_t;
*this->context_ptr = rcl_get_zero_initialized_context();

ret = rcl_init(argc, argv, &init_options, this->context_ptr);
ret = rcl_init(param.argc, param.argv, &init_options, this->context_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// create node
rcl_node_options_t node_options = rcl_node_get_default_options();
if (!enable_node_option_rosout) {
node_options.enable_rosout = enable_node_option_rosout;
if (!param.enable_node_option_rosout) {
node_options.enable_rosout = param.enable_node_option_rosout;
}
const char * name = "test_rcl_node_logging_rosout";
const char * namespace_ = "/ns";
Expand All @@ -75,7 +103,8 @@ class CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION) : public ::testin
this->subscription_ptr = new rcl_subscription_t;
*this->subscription_ptr = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
ret = rcl_subscription_init(this->subscription_ptr, this->node_ptr, ts, topic, &subscription_options);
ret = rcl_subscription_init(
this->subscription_ptr, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

Expand All @@ -93,6 +122,11 @@ class CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION) : public ::testin
delete this->context_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

protected:
rcl_context_t * context_ptr;
rcl_node_t * node_ptr;
rcl_subscription_t * subscription_ptr;
};

void
Expand Down Expand Up @@ -133,57 +167,94 @@ wait_for_subscription_to_be_ready(
success = false;
}

/* Basic nominal test of having rosout logging globally enabled and locally enabled in a node
/* Testing the subscriber of topic 'rosout' whether to get event from logging or not.
*/
TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_enable_global_rosout_enable_nodeoption) {
SetUp(0, nullptr, true);

TEST_P_RMW(TestLoggingRosoutFixture, test_logging_rosout) {
// log
RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");

bool success;
wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
ASSERT_TRUE(success);
ASSERT_EQ(success, GetParam().expected_success);
}

//
// create set of input and expected values
//
std::vector<TestParameters>
get_parameters()
{
std::vector<TestParameters> parameters;
static int s_argc = 2;
static const char* s_argv_enable_rosout[] = {"--ros-args", "--enable-rosout-logs"};
static const char* s_argv_disable_rosout[] = {"--ros-args", "--disable-rosout-logs"};

/* Basic nominal test of having rosout logging globally enabled and locally disabled in a node
*/
TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_enable_global_rosout_disable_nodeoption) {
SetUp(0, nullptr, false);

// log
RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");

bool success;
wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
ASSERT_FALSE(success);
}

/* Basic nominal test of having rosout logging globally disabled and locally enabled in a node
*/
TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_disable_global_rosout_enable_nodeoption) {
const char* argv[] = {"--ros-args", "--disable-rosout-logs"};
SetUp(2, argv, true);

// log
RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");
/*
* Test with enable(implicit) global rosout logs and enable node option of rosout.
*/
parameters.push_back({
0,
nullptr,
true,
true,
"test_enable_implicit_global_rosout_enable_node_option"
});
/*
* Test with enable(implicit) global rosout logs and disable node option of rosout.
*/
parameters.push_back({
0,
nullptr,
false,
false,
"test_enable_implicit_global_rosout_disable_node_option"
});
/*
* Test with enable(explicit) global rosout logs and enable node option of rosout.
*/
parameters.push_back({
s_argc,
s_argv_enable_rosout,
true,
true,
"test_enable_explicit_global_rosout_enable_node_option"
});
/*
* Test with enable(implicit) global rosout logs and disable node option of rosout.
*/
parameters.push_back({
s_argc,
s_argv_enable_rosout,
false,
false,
"test_enable_explicit_global_rosout_disable_node_option"
});
/*
* Test with disable global rosout logs and enable node option of rosout.
*/
parameters.push_back({
s_argc,
s_argv_disable_rosout,
true,
false,
"test_disable_global_rosout_enable_node_option"
});
/*
* Test with disable global rosout logs and disable node option of rosout.
*/
parameters.push_back({
s_argc,
s_argv_disable_rosout,
false,
false,
"test_disable_global_rosout_disable_node_option"
});

bool success;
wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
ASSERT_FALSE(success);
return parameters;
}

/* Basic nominal test of having rosout logging globally disabled and locally disabled in a node
*/
TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_disable_global_rosout_disable_nodeoption) {
const char* argv[] = {"--ros-args", "--disable-rosout-logs"};
SetUp(2, argv, false);

// log
RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");

bool success;
wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
ASSERT_FALSE(success);
}
INSTANTIATE_TEST_CASE_P_RMW(
TestLoggingRosoutWithDifferentSettings,
TestLoggingRosoutFixture,
::testing::ValuesIn(get_parameters()),
::testing::PrintToStringParamName());

0 comments on commit 8f8c0c6

Please sign in to comment.