Fix tests and add 1

eclipse-zenoh · Nov 30, 2023 · ec365a8 · ec365a8
1 parent 39cbaf1
commit ec365a8
Showing 1 changed file with 83 additions and 3 deletions.
diff --git a/zenoh-plugin-ros2dds/src/ros_discovery.rs b/zenoh-plugin-ros2dds/src/ros_discovery.rs
@@ -565,16 +565,21 @@ where
 }
 
 mod tests {
-
     #[test]
-    fn test_serde() {
+    #[ignore]
+    // Test ignored as it cannot be run at the same time than test_serde_after_iron()
+    // Both need different ROS_DISTRO env var, that cannot be changed between the 2 tests
+    // Run this test individually or with `cargo test -- --ignored``
+    fn test_serde_prior_to_iron() {
         use super::*;
+        use crate::ros2_utils::get_ros_distro;
         use std::str::FromStr;
 
-        // ros_discovery_message sent by a component_container node started as such:
+        // ros_discovery_message sent by a component_container node on Humble started as such:
         //   - ros2 run rclcpp_components component_container --ros-args --remap __ns:=/TEST
         //   - ros2 component load /TEST/ComponentManager composition composition::Listener
         //   - ros2 component load /TEST/ComponentManager composition composition::Talker
+        std::env::set_var("ROS_DISTRO", "humble");
         let ros_discovery_info_cdr: Vec<u8> = hex::decode(
             "000100000110de17b1eaf995400c9ac8000001c1000000000000000003000000\
             060000002f5445535400000011000000436f6d706f6e656e744d616e61676572\
@@ -614,6 +619,7 @@ mod tests {
         )
         .unwrap();
 
+        println!("ROS_DISTRO={}", get_ros_distro());
         let part_info: ParticipantEntitiesInfo = cdr::deserialize(&ros_discovery_info_cdr).unwrap();
         println!("{:?}", part_info);
 
@@ -644,4 +650,78 @@ mod tests {
         assert_eq!(node_talker.reader_gid_seq.len(), 7);
         assert_eq!(node_talker.writer_gid_seq.len(), 9);
     }
+
+    #[test]
+    fn test_serde_after_iron() {
+        use super::*;
+        use crate::ros2_utils::get_ros_distro;
+        use std::str::FromStr;
+
+        // ros_discovery_message sent by a component_container node on Iron started as such:
+        //   - ros2 run rclcpp_components component_container --ros-args --remap __ns:=/TEST
+        //   - ros2 component load /TEST/ComponentManager composition composition::Listener
+        //   - ros2 component load /TEST/ComponentManager composition composition::Talker
+        std::env::set_var("ROS_DISTRO", "iron");
+        let ros_discovery_info_cdr: Vec<u8> = hex::decode(
+            "00010000010f20a26b2fbd8000000000000001c103000000060000002f544553\
+            5400000011000000436f6d706f6e656e744d616e616765720000000005000000\
+            010f20a26b2fbd800000000000000404010f20a26b2fbd800000000000000504\
+            010f20a26b2fbd800000000000000704010f20a26b2fbd800000000000000904\
+            010f20a26b2fbd800000000000000b0405000000010f20a26b2fbd8000000000\
+            00000303010f20a26b2fbd800000000000000603010f20a26b2fbd8000000000\
+            00000803010f20a26b2fbd800000000000000a03010f20a26b2fbd8000000000\
+            00000c03020000002f000000090000006c697374656e65720000000009000000\
+            010f20a26b2fbd800000000000000e04010f20a26b2fbd800000000000001004\
+            010f20a26b2fbd800000000000001204010f20a26b2fbd800000000000001404\
+            010f20a26b2fbd800000000000001604010f20a26b2fbd800000000000001804\
+            010f20a26b2fbd800000000000001b04010f20a26b2fbd800000000000001c04\
+            010f20a26b2fbd800000000000001e0409000000010f20a26b2fbd8000000000\
+            00000d03010f20a26b2fbd800000000000000f03010f20a26b2fbd8000000000\
+            00001103010f20a26b2fbd800000000000001303010f20a26b2fbd8000000000\
+            00001503010f20a26b2fbd800000000000001703010f20a26b2fbd8000000000\
+            00001903010f20a26b2fbd800000000000001a03010f20a26b2fbd8000000000\
+            00001d03020000002f0000000700000074616c6b6572000008000000010f20a2\
+            6b2fbd800000000000002004010f20a26b2fbd800000000000002204010f20a2\
+            6b2fbd800000000000002404010f20a26b2fbd800000000000002604010f20a2\
+            6b2fbd800000000000002804010f20a26b2fbd800000000000002a04010f20a2\
+            6b2fbd800000000000002d04010f20a26b2fbd800000000000002e040a000000\
+            010f20a26b2fbd800000000000001f03010f20a26b2fbd800000000000002103\
+            010f20a26b2fbd800000000000002303010f20a26b2fbd800000000000002503\
+            010f20a26b2fbd800000000000002703010f20a26b2fbd800000000000002903\
+            010f20a26b2fbd800000000000002b03010f20a26b2fbd800000000000002c03\
+            010f20a26b2fbd800000000000002f03010f20a26b2fbd800000000000003003",
+        )
+        .unwrap();
+
+        println!("ROS_DISTRO={}", get_ros_distro());
+        let part_info: ParticipantEntitiesInfo = cdr::deserialize(&ros_discovery_info_cdr).unwrap();
+        println!("{:?}", part_info);
+
+        assert_eq!(
+            part_info.gid,
+            Gid::from_str("010f20a26b2fbd8000000000000001c1").unwrap()
+        );
+        assert_eq!(part_info.node_entities_info_seq.len(), 3);
+
+        let node_componentmgr = part_info
+            .node_entities_info_seq
+            .get("/TEST/ComponentManager")
+            .unwrap();
+        assert_eq!(node_componentmgr.node_namespace, "/TEST");
+        assert_eq!(node_componentmgr.node_name, "ComponentManager");
+        assert_eq!(node_componentmgr.reader_gid_seq.len(), 5);
+        assert_eq!(node_componentmgr.writer_gid_seq.len(), 5);
+
+        let node_listener = part_info.node_entities_info_seq.get("/listener").unwrap();
+        assert_eq!(node_listener.node_namespace, "/");
+        assert_eq!(node_listener.node_name, "listener");
+        assert_eq!(node_listener.reader_gid_seq.len(), 9);
+        assert_eq!(node_listener.writer_gid_seq.len(), 9);
+
+        let node_talker = part_info.node_entities_info_seq.get("/talker").unwrap();
+        assert_eq!(node_talker.node_namespace, "/");
+        assert_eq!(node_talker.node_name, "talker");
+        assert_eq!(node_talker.reader_gid_seq.len(), 8);
+        assert_eq!(node_talker.writer_gid_seq.len(), 10);
+    }
 }