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Cleanup test_graph.cpp. (#1193)
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1. Shorten the sleeps to 100 milliseconds, so we can
quit faster if things show up in the graph.
2. Switch from CamelCase to snake_case for test functions.
3. Revamp the rcl_action test_graph.cpp wait_for_alive_nodes
to look more like the rcl version of the same thing.

Signed-off-by: Chris Lalancette <[email protected]>
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clalancette authored Oct 1, 2024
1 parent 8ddfd52 commit d680ff3
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Showing 2 changed files with 32 additions and 43 deletions.
26 changes: 13 additions & 13 deletions rcl/test/rcl/test_graph.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1057,17 +1057,16 @@ class NodeGraphMultiNodeFixture : public TestGraphFixture
// Some middlewares like rmw_zenoh remove node entries from the ROS graph
// once the context for the node is shutdown.
size_t attempts = 0u;
size_t max_attempts = 10u;
constexpr size_t max_attempts = 100u;
std::unordered_set<std::string> discovered_node_names = {};
bool found_expected_nodes = false;
do {
std::this_thread::sleep_for(std::chrono::seconds(1));
rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
ASSERT_EQ(
RCL_RET_OK,
rcl_get_node_names(this->remote_node_ptr, allocator, &node_names, &node_namespaces));
attempts++;
++attempts;
for (size_t name_idx = 0; name_idx < node_names.size; ++name_idx) {
discovered_node_names.insert(node_names.data[name_idx]);
}
Expand All @@ -1077,6 +1076,7 @@ class NodeGraphMultiNodeFixture : public TestGraphFixture
ASSERT_EQ(RCUTILS_RET_OK, rcutils_string_array_fini(&node_names));
ASSERT_EQ(RCUTILS_RET_OK, rcutils_string_array_fini(&node_namespaces));
ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} while (!found_expected_nodes);
}

Expand All @@ -1086,7 +1086,7 @@ class NodeGraphMultiNodeFixture : public TestGraphFixture
* \param node_state expected state of node
* \param remote_node_state expected state of remote node
*/
void VerifySubsystemCount(
void verify_subsystem_count(
const expected_node_state && node_state,
const expected_node_state && remote_node_state) const
{
Expand Down Expand Up @@ -1184,19 +1184,19 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_subscriptions)
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();

VerifySubsystemCount(expected_node_state{1, 1, 0, 0}, expected_node_state{1, 1, 0, 0});
verify_subsystem_count(expected_node_state{1, 1, 0, 0}, expected_node_state{1, 1, 0, 0});

// Destroy the node's subscriber
ret = rcl_subscription_fini(&sub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 1, 0, 0});
verify_subsystem_count(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 1, 0, 0});

// Destroy the remote node's subdscriber
ret = rcl_subscription_fini(&sub2, this->remote_node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
verify_subsystem_count(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
Expand All @@ -1209,14 +1209,14 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
ret = rcl_publisher_init(&pub, this->node_ptr, ts, this->topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{2, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
verify_subsystem_count(expected_node_state{2, 0, 0, 0}, expected_node_state{1, 0, 0, 0});

RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Destroyed publisher");
// Destroy the publisher.
ret = rcl_publisher_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
verify_subsystem_count(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
Expand All @@ -1228,12 +1228,12 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
auto ts1 = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
ret = rcl_service_init(&service, this->node_ptr, ts1, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 1, 0}, expected_node_state{1, 0, 0, 0});
verify_subsystem_count(expected_node_state{1, 0, 1, 0}, expected_node_state{1, 0, 0, 0});

// Destroy service.
ret = rcl_service_fini(&service, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
verify_subsystem_count(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

TEST_F(NodeGraphMultiNodeFixture, test_node_info_clients)
Expand All @@ -1245,12 +1245,12 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_clients)
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 0, 1}, expected_node_state{1, 0, 0, 0});
verify_subsystem_count(expected_node_state{1, 0, 0, 1}, expected_node_state{1, 0, 0, 0});

// Destroy client
ret = rcl_client_fini(&client, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
verify_subsystem_count(expected_node_state{1, 0, 0, 0}, expected_node_state{1, 0, 0, 0});
}

/*
Expand Down
49 changes: 19 additions & 30 deletions rcl_action/test/rcl_action/test_graph.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -309,7 +309,7 @@ class TestActionGraphMultiNodeFixture : public TestActionGraphFixture
this->remote_node_name,
"",
std::placeholders::_2);
WaitForAllNodesAlive();
wait_for_all_nodes_alive();
}

void TearDown() override
Expand All @@ -326,51 +326,40 @@ class TestActionGraphMultiNodeFixture : public TestActionGraphFixture
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void WaitForAllNodesAlive()
void wait_for_all_nodes_alive()
{
rcl_ret_t ret;
rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_namespaces);
ASSERT_EQ(RCUTILS_RET_OK, ret);
});
// wait for a minimum of 2 nodes to be discovered: remote_node_name, test_graph_node_name.
// old_node may or may not be present in the ROS graph depending on the
// rmw_implementation since rcl_shutdown() was invoked on the
// old_context_ptr used to initialize this node within TestActionGraphFixture::Setup().
// Some middlewares like rmw_zenoh remove node entries from the ROS graph
// once the context for the node is shutdown.
size_t attempts = 0u;
size_t max_attempts = 4u;
constexpr size_t max_attempts = 100u;
std::unordered_set<std::string> discovered_node_names = {};
bool found_expected_nodes = false;
while (!found_expected_nodes) {
std::this_thread::sleep_for(std::chrono::seconds(1));
ret = rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces);

do {
rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
ASSERT_EQ(
RCL_RET_OK,
rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces));
++attempts;
for (size_t name_idx = 0; name_idx < node_names.size; ++name_idx) {
discovered_node_names.insert(node_names.data[name_idx]);
}
found_expected_nodes =
discovered_node_names.count(remote_node_name) > 0 &&
discovered_node_names.count(test_graph_node_name) > 0;
ASSERT_EQ(RCUTILS_RET_OK, rcutils_string_array_fini(&node_names));
ASSERT_EQ(RCUTILS_RET_OK, rcutils_string_array_fini(&node_namespaces));
ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
if (!found_expected_nodes) {
ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_namespaces);
ASSERT_EQ(RCUTILS_RET_OK, ret);
node_names = rcutils_get_zero_initialized_string_array();
node_namespaces = rcutils_get_zero_initialized_string_array();
}
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} while (!found_expected_nodes);
}

void WaitForActionCount(
void wait_for_action_count(
GetActionsFunc func,
size_t expected_count,
std::chrono::milliseconds duration)
Expand Down Expand Up @@ -418,7 +407,7 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types)
rcl_get_error_string().str;
});

WaitForActionCount(action_func, 1u, std::chrono::seconds(1));
wait_for_action_count(action_func, 1u, std::chrono::seconds(1));

// Check that there is exactly one action name
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
Expand Down Expand Up @@ -457,7 +446,7 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types)
rcl_get_error_string().str;
});

WaitForActionCount(action_func, 2u, std::chrono::seconds(1));
wait_for_action_count(action_func, 2u, std::chrono::seconds(1));

ret = action_func(&this->node, &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand Down Expand Up @@ -528,7 +517,7 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_b
rcl_get_error_string().str;
});

WaitForActionCount(servers_by_node_func, 1u, std::chrono::seconds(1));
wait_for_action_count(servers_by_node_func, 1u, std::chrono::seconds(1));
ret = servers_by_node_func(&this->node, &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(nat.names.size, 1u);
Expand Down Expand Up @@ -596,7 +585,7 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_b
rcl_get_error_string().str;
});

WaitForActionCount(clients_by_node_func, 1u, std::chrono::seconds(1));
wait_for_action_count(clients_by_node_func, 1u, std::chrono::seconds(1));
ret = clients_by_node_func(&this->node, &nat);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(nat.names.size, 1u);
Expand Down

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