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Re-add "Improve trigger test for graph guard condition (#811)" #884

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Jan 11, 2021
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Re-add "Improve trigger test for graph guard condition (#811)" #884

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221 changes: 161 additions & 60 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1223,75 +1223,176 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
9); // number of retries
}

/* Test the graph guard condition notices topic changes.
/* Test the graph guard condition notices below changes.
* publisher create/destroy, subscription create/destroy
* service create/destroy, client create/destroy
* Other node added/removed
*
* Note: this test could be impacted by other communications on the same ROS Domain.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_topics) {
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_trigger_check) {
#define CHECK_GUARD_CONDITION_CHANGE(EXPECTED_RESULT, TIMEOUT) do { \
ret = rcl_wait_set_clear(&wait_set); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL); \
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
ret = rcl_wait(&wait_set, TIMEOUT.count()); \
ASSERT_EQ(EXPECTED_RESULT, ret) << rcl_get_error_string().str; \
} while (0)

rcl_ret_t ret;
// Create a thread to sleep for a time, then create a publisher, sleep more, then a subscriber,
// sleep more, destroy the subscriber, sleep more, and then destroy the publisher.
std::promise<bool> topic_changes_promise;
std::thread topic_thread(
[this, &topic_changes_promise]() {
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// create the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// create the subscription
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// destroy the subscription
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// destroy the publication
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// notify that the thread is done
topic_changes_promise.set_value(true);
});
// Wait for the graph state to change, expecting it to do so at least 4 times,
// once for each change in the topics thread.
std::chrono::nanoseconds timeout_1s = std::chrono::seconds(1);
std::chrono::nanoseconds timeout_3s = std::chrono::seconds(3);

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(
&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set)) << rcl_get_error_string().str;
});

const rcl_guard_condition_t * graph_guard_condition =
rcl_node_get_graph_guard_condition(this->node_ptr);
ASSERT_NE(nullptr, graph_guard_condition) << rcl_get_error_string().str;
std::shared_future<bool> future = topic_changes_promise.get_future();
size_t graph_changes_count = 0;
// while the topic thread is not done, wait and count the graph changes
while (future.wait_for(std::chrono::seconds(0)) != std::future_status::ready) {
ret = rcl_wait_set_clear(this->wait_set_ptr);
rcl_node_get_graph_guard_condition(node_ptr);

// Wait for no graph change condition
int idx = 0;
for (; idx < 100; idx++) {
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition, NULL);
ret = rcl_wait_set_add_guard_condition(&wait_set, graph_guard_condition, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(400);
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
"waiting up to '%s' nanoseconds for graph changes",
std::to_string(time_to_sleep.count()).c_str());
ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
if (ret == RCL_RET_TIMEOUT) {
continue;
ret = rcl_wait(&wait_set, timeout_3s.count());
if (RCL_RET_TIMEOUT == ret) {
break;
} else {
RCUTILS_LOG_INFO_NAMED(
ROS_PACKAGE_NAME,
"waiting for no graph change condition ...");
}
graph_changes_count++;
}
topic_thread.join();
// expect at least 4 changes
ASSERT_GE(graph_changes_count, 4ul);
ASSERT_NE(idx, 100);

// Graph change since creating the publisher
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
ret = rcl_publisher_init(
&pub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since destroying the publisher
ret = rcl_publisher_fini(&pub, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since creating the subscription
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since destroying the subscription
ret = rcl_subscription_fini(&sub, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since creating service
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
ret = rcl_service_init(
&service,
node_ptr,
ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes),
"test_graph_guard_condition_service",
&service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since destroy service
ret = rcl_service_fini(&service, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since creating client
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(
&client,
node_ptr,
ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes),
"test_graph_guard_condition_service",
&client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since destroying client
ret = rcl_client_fini(&client, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Graph change since adding new node
rcl_node_t node_new = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&node_new, "test_graph2", "", context_ptr, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_3s);
}

// Graph change since destroying new node
ret = rcl_node_fini(&node_new);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_OK, timeout_1s);
}

// Should not get graph change if no change
{
SCOPED_TRACE("Check guard condition change failed !");
CHECK_GUARD_CONDITION_CHANGE(RCL_RET_TIMEOUT, timeout_1s);
}
}

/* Test the rcl_service_server_is_available function.
Expand Down