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Sweep cleanup in test_player_progress_bar.cpp
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- Rewrite tests to adhere ROS 2 style and standards

Signed-off-by: Michael Orlov <[email protected]>
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@MichaelOrlov
MichaelOrlov committed Feb 6, 2025
1 parent aa5cc53 commit c5d99cb
Showing 1 changed file with 95 additions and 82 deletions.
177 changes: 95 additions & 82 deletions rosbag2_transport/test/rosbag2_transport/test_player_progress_bar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,10 +67,16 @@ TEST_F(TestPlayerProgressBar, default_ctor_dtor) {
TEST_F(TestPlayerProgressBar, can_dtor_after_output) {
std::ostringstream oss;
{
auto progress_bar = std::make_unique<PlayerProgressBar>(oss, 0, 0);
progress_bar->print_help_str();
auto progress_bar = std::make_unique<PlayerProgressBar>(
oss, RCUTILS_S_TO_NS(1000000000), RCUTILS_S_TO_NS(2000000000), 1, 0);
progress_bar->update(PlayerProgressBar::PlayerStatus::DELAYED);
}
EXPECT_THAT(oss.str(),
MatchesRegex(
"====== Playback Progress ======\n"
"\\[1000000000.000000000\\] Duration 0\\.00/1000000000\\.00 \\[D\\].*"
)
);
}

TEST_F(TestPlayerProgressBar, print_help_str_with_zero_update_rate) {
Expand Down Expand Up @@ -111,16 +117,19 @@ TEST_F(TestPlayerProgressBar, update_status_with_disabled_progress_bar) {

TEST_F(TestPlayerProgressBar, update_status_with_enabled_progress_bar) {
{
// Test Playback Progress header
// Test Playback Progress header and status update with update rate 1 Hz
std::ostringstream oss;
auto progress_bar = std::make_unique<PlayerProgressBar>(oss, 0, 0, 1);
progress_bar->update(PlayerProgressBar::PlayerStatus::RUNNING);
progress_bar->update(PlayerProgressBar::PlayerStatus::STOPPED);
EXPECT_THAT(oss.str(), MatchesRegex(
".*====== Playback Progress ======"
"\n.*\\[R\\]"
".*====== Playback Progress ======"
"\n.*\\[S\\].*"));
EXPECT_THAT(oss.str(),
MatchesRegex(
".*====== Playback Progress ======\n"
"\\[0\\.000000000\\] Duration 0\\.00/0\\.00 \\[R\\].*"
".*====== Playback Progress ======\n"
"\\[0\\.000000000\\] Duration 0\\.00/0\\.00 \\[S\\].*"
)
);
}

{
Expand All @@ -146,16 +155,15 @@ TEST_F(TestPlayerProgressBar, update_status_with_separation_lines) {
uint32_t num_separation_lines = 2;
std::string expected_pre_line_separator =
GenerateClearAndMoveCursorDownRegexString(num_separation_lines);
std::string expected_post_line_separator =
GenerateMoveCursorUpRegexString(num_separation_lines);
std::string cursor_up_regex_string = GenerateMoveCursorUpRegexString(num_separation_lines);
auto progress_bar = std::make_unique<PlayerProgressBar>(oss, 0, 0, 1, num_separation_lines);
progress_bar->update(PlayerProgressBar::PlayerStatus::DELAYED);
progress_bar->update(PlayerProgressBar::PlayerStatus::RUNNING);
EXPECT_THAT(oss.str(), MatchesRegex(
expected_pre_line_separator +
".*\\[D\\].*" + expected_post_line_separator +
".*\\[D\\].*" + cursor_up_regex_string +
expected_pre_line_separator +
".*\\[R\\].*" + expected_post_line_separator));
".*\\[R\\].*" + cursor_up_regex_string));
}

{
Expand All @@ -164,8 +172,7 @@ TEST_F(TestPlayerProgressBar, update_status_with_separation_lines) {
uint32_t num_separation_lines = 5;
std::string expected_pre_line_separator =
GenerateClearAndMoveCursorDownRegexString(num_separation_lines);
std::string expected_post_line_separator =
GenerateMoveCursorUpRegexString(num_separation_lines);
std::string cursor_up_regex_string = GenerateMoveCursorUpRegexString(num_separation_lines);
auto progress_bar = std::make_unique<PlayerProgressBar>(oss, 0, 0, 1, num_separation_lines);
progress_bar->update(PlayerProgressBar::PlayerStatus::DELAYED);
oss << "log msg 1\n";
Expand All @@ -178,94 +185,100 @@ TEST_F(TestPlayerProgressBar, update_status_with_separation_lines) {
progress_bar->update(PlayerProgressBar::PlayerStatus::PAUSED);
EXPECT_THAT(oss.str(), MatchesRegex(
expected_pre_line_separator +
".*\\[D\\].*" + expected_post_line_separator +
".*\\[D\\].*" + cursor_up_regex_string +
"log msg 1\nlog msg 2\nlog msg 3\nlog msg 4\n" +
expected_pre_line_separator +
".*\\[R\\].*" + expected_post_line_separator +
".*\\[R\\].*" + cursor_up_regex_string +
"log msg 5\nlog msg 6\n" +
expected_pre_line_separator +
".*\\[P\\].*" + expected_post_line_separator));
".*\\[P\\].*" + cursor_up_regex_string));
}
}

TEST_F(TestPlayerProgressBar, update_status_without_separation_lines) {
std::ostringstream oss;
{
// Test status update without separation lines
uint32_t num_separation_lines = 0;
std::string expected_pre_line_separator =
GenerateClearAndMoveCursorDownRegexString(num_separation_lines);
std::string expected_post_line_separator =
GenerateMoveCursorUpRegexString(num_separation_lines);
auto progress_bar = std::make_unique<PlayerProgressBar>(oss, 0, 0, 1, num_separation_lines);
progress_bar->update(PlayerProgressBar::PlayerStatus::DELAYED);
EXPECT_THAT(oss.str(), MatchesRegex(
expected_pre_line_separator +
".*\\[D\\].*" + expected_post_line_separator));
// Test status update without separation lines
const uint32_t num_separation_lines = 0;
std::string cursor_up_regex_string = GenerateMoveCursorUpRegexString(num_separation_lines);
auto progress_bar = std::make_unique<PlayerProgressBar>(oss, 0, 0, 1, num_separation_lines);
progress_bar->update(PlayerProgressBar::PlayerStatus::DELAYED);
EXPECT_THAT(oss.str(), MatchesRegex(
".*\\[D\\].*" + cursor_up_regex_string));

progress_bar->update(PlayerProgressBar::PlayerStatus::RUNNING);
EXPECT_THAT(oss.str(), MatchesRegex(
expected_pre_line_separator +
".*\\[D\\].*" + expected_post_line_separator +
expected_pre_line_separator +
".*\\[R\\].*" + expected_post_line_separator));
}
progress_bar->update(PlayerProgressBar::PlayerStatus::RUNNING);
EXPECT_THAT(oss.str(), MatchesRegex(
".*\\[D\\].*" + cursor_up_regex_string +
".*\\[R\\].*" + cursor_up_regex_string));
}

TEST_F(TestPlayerProgressBar, update_with_limited_rate_respect_update_rate) {
rcutils_time_point_value_t starting_time = 1e18; // nanoseconds
rcutils_time_point_value_t ending_time = starting_time + 5e9;
{
// Test if update rate of the progress bar is respected
std::ostringstream oss;
int32_t update_rate = 3;
uint64_t update_period_ns = 1e9 / update_rate;
auto progress_bar = std::make_unique<PlayerProgressBar>(
oss, starting_time, ending_time, update_rate, 0);
std::vector<rcutils_time_point_value_t> timestamps;
timestamps.push_back(starting_time); // 1st update progress bar
// add timestamps relative to 1st update progress bar
timestamps.push_back(timestamps.at(0) + 0.3 * update_period_ns); // skip update
timestamps.push_back(timestamps.at(0) + 0.5 * update_period_ns); // skip update
timestamps.push_back(timestamps.at(0) + 1.3 * update_period_ns); // 2nd update
// add timestamps relative to 2nd update progress bar
timestamps.push_back(timestamps.at(3) + 0.3 * update_period_ns); // skip update
timestamps.push_back(timestamps.at(3) + 1.3 * update_period_ns); // 3rd update
rcutils_time_point_value_t starting_time = RCUTILS_S_TO_NS(1);
rcutils_time_point_value_t ending_time = starting_time + RCUTILS_S_TO_NS(5);

// Test if update rate of the progress bar is respected
std::ostringstream oss;
const size_t update_rate = 4;
const rcutils_duration_value_t update_period_ns = RCUTILS_S_TO_NS(1) / update_rate;
auto progress_bar =
std::make_unique<PlayerProgressBar>(oss, starting_time, ending_time, update_rate, 0);

std::vector<rcutils_time_point_value_t> timestamps;
timestamps.push_back(starting_time); // 1st update of the progress bar

// Add timestamps relative to the 1st update of the progress bar
timestamps.push_back(
starting_time + static_cast<rcutils_duration_value_t>(0.3 * update_period_ns)); // skip update
timestamps.push_back(
starting_time + static_cast<rcutils_duration_value_t>(0.5 * update_period_ns)); // skip update

rcutils_time_point_value_t second_update_timestamp = starting_time +
static_cast<rcutils_duration_value_t>(1.3 * update_period_ns); // more than one period

timestamps.push_back(second_update_timestamp); // 2nd update

// Add timestamps relative to the 2nd update of the progress bar
timestamps.push_back(second_update_timestamp +
static_cast<rcutils_duration_value_t>(0.3 * update_period_ns)); // skip update

timestamps.push_back(second_update_timestamp +
static_cast<rcutils_duration_value_t>(0.5 * update_period_ns)); // skip update

timestamps.push_back(second_update_timestamp +
static_cast<rcutils_duration_value_t>(1.5 * update_period_ns)); // 3rd update

progress_bar->update_with_limited_rate(timestamps[0], PlayerProgressBar::PlayerStatus::RUNNING);
for (size_t i = 1; i < timestamps.size(); i++) {
std::this_thread::sleep_for(std::chrono::nanoseconds(timestamps[i] - timestamps[i - 1]));

progress_bar->update_with_limited_rate(
timestamps[0], PlayerProgressBar::PlayerStatus::RUNNING);
for (size_t i = 1; i < timestamps.size(); ++i) {
{
std::this_thread::sleep_for(
std::chrono::nanoseconds(timestamps[i] - timestamps[i - 1]));
}
progress_bar->update_with_limited_rate(
timestamps[i], PlayerProgressBar::PlayerStatus::RUNNING);
}
// Check if the progress bar is updated at the correct 3 timestamps
EXPECT_THAT(oss.str(), MatchesRegex(
".*\\[1000000000\\.000000000\\] Duration 0\\.00/5\\.00"
".*\\[1000000000\\.4333.*\\] Duration 0\\.43/5\\.00"
".*\\[1000000000\\.8666.*\\] Duration 0\\.87/5\\.00.*"));
timestamps[i], PlayerProgressBar::PlayerStatus::RUNNING);
}
}

TEST_F(TestPlayerProgressBar, update_with_limited_rate_update_progress) {
// TODO(someone): Add content for this test
// Check if the progress bar is updated at the correct 3 timestamps
EXPECT_THAT(oss.str(),
MatchesRegex(
".*====== Playback Progress ======\n"
"\\[1\\.000000000\\] Duration 0\\.00/5\\.00"
".*====== Playback Progress ======\n"
"\\[1\\.325000000\\] Duration 0\\.32/5\\.00"
".*====== Playback Progress ======\n"
"\\[1\\.700000000\\] Duration 0\\.70/5\\.00.*"
)
);
}

TEST_F(TestPlayerProgressBar, update_with_limited_rate_with_negative_update_rate) {
rcutils_time_point_value_t starting_time = 1e18; // nanoseconds
rcutils_time_point_value_t ending_time = starting_time + 5e9;
int32_t update_rate = -1;
rcutils_time_point_value_t starting_time = RCUTILS_S_TO_NS(1000000000);
rcutils_time_point_value_t ending_time = starting_time + RCUTILS_S_TO_NS(5);
const int32_t update_rate = -1;

// Test if progress bar is updated every time
std::ostringstream oss;
auto progress_bar = std::make_unique<PlayerProgressBar>(
oss, starting_time, ending_time, update_rate, 0);
auto progress_bar =
std::make_unique<PlayerProgressBar>(oss, starting_time, ending_time, update_rate, 0);
rcutils_time_point_value_t timestamp_1 = starting_time;
rcutils_time_point_value_t timestamp_2 = starting_time + 1e6;
rcutils_time_point_value_t timestamp_3 = starting_time + 2e6;
rcutils_time_point_value_t timestamp_2 = starting_time + RCUTILS_MS_TO_NS(1);
rcutils_time_point_value_t timestamp_3 = starting_time + RCUTILS_MS_TO_NS(2);
progress_bar->update_with_limited_rate(timestamp_1, PlayerProgressBar::PlayerStatus::RUNNING);
progress_bar->update_with_limited_rate(timestamp_2, PlayerProgressBar::PlayerStatus::STOPPED);
progress_bar->update_with_limited_rate(timestamp_3, PlayerProgressBar::PlayerStatus::RUNNING);
Expand All @@ -276,17 +289,17 @@ TEST_F(TestPlayerProgressBar, update_with_limited_rate_with_negative_update_rate
}

TEST_F(TestPlayerProgressBar, update_with_limited_rate_with_zero_update_rate) {
rcutils_time_point_value_t starting_time = 1e18; // nanoseconds
rcutils_time_point_value_t ending_time = starting_time + 5e9;
rcutils_time_point_value_t starting_time = RCUTILS_S_TO_NS(1000000000);
rcutils_time_point_value_t ending_time = starting_time + RCUTILS_S_TO_NS(5);
int32_t update_rate = 0;

// Test if progress bar is not updated
std::ostringstream oss;
auto progress_bar = std::make_unique<PlayerProgressBar>(
oss, starting_time, ending_time, update_rate);
rcutils_time_point_value_t timestamp_1 = starting_time;
rcutils_time_point_value_t timestamp_2 = starting_time + 1e6;
rcutils_time_point_value_t timestamp_3 = starting_time + 2e6;
rcutils_time_point_value_t timestamp_2 = starting_time + RCUTILS_MS_TO_NS(1);
rcutils_time_point_value_t timestamp_3 = starting_time + RCUTILS_MS_TO_NS(2);
progress_bar->update_with_limited_rate(timestamp_1, PlayerProgressBar::PlayerStatus::DELAYED);
progress_bar->update_with_limited_rate(timestamp_2, PlayerProgressBar::PlayerStatus::RUNNING);
progress_bar->update_with_limited_rate(timestamp_3, PlayerProgressBar::PlayerStatus::RUNNING);
Expand Down

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