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Signed-off-by: Alberto Soragna <[email protected]>
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rclcpp/test/rclcpp/executors/test_executors_minimal_init.cpp
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| // Copyright 2017 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| /** | ||
| * This test checks all implementations of rclcpp::executor to check they pass they basic API | ||
| * tests. Anything specific to any executor in particular should go in a separate test file. | ||
| */ | ||
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| #include <gtest/gtest.h> | ||
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| #include <chrono> | ||
| #include <memory> | ||
| #include <string> | ||
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| #include "rclcpp/rclcpp.hpp" | ||
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| #include "test_msgs/msg/empty.hpp" | ||
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| #include "./executor_types.hpp" | ||
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| using namespace std::chrono_literals; | ||
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| /** | ||
| * @brief This test suite is meant to be used by Executors tests that | ||
| * require test-specific initialization routines. | ||
| */ | ||
| template<typename T> | ||
| class TestExecutorsMinimalInitialization : public ::testing::Test | ||
| { | ||
| public: | ||
| void SetUp() | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| } | ||
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| void TearDown() | ||
| { | ||
| rclcpp::shutdown(); | ||
| } | ||
| }; | ||
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| TYPED_TEST_SUITE(TestExecutorsMinimalInitialization, ExecutorTypes, ExecutorTypeNames); | ||
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| // This test verifies that spin_all is correctly collecting work multiple times | ||
| // even when one of the items of work is a notifier waitable event and thus results in | ||
| // rebuilding the entities collection. | ||
| // When spin_all goes back to collect more work, it should see the ready items from | ||
| // the new added entities | ||
| TYPED_TEST(TestExecutorsMinimalInitialization, spin_all_doesnt_require_warmup) | ||
| { | ||
| using ExecutorType = TypeParam; | ||
| ExecutorType executor; | ||
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| // Enable intra-process to guarantee deterministic and synchronous delivery of the message / event | ||
| auto node_options = rclcpp::NodeOptions().use_intra_process_comms(true); | ||
| auto node = std::make_shared<rclcpp::Node>("test_node", node_options); | ||
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| // Add node to the executor before creating the entities | ||
| executor.add_node(node); | ||
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| // Create entities, this will produce a notifier waitable event, telling the executor to refresh | ||
| // the entities collection | ||
| auto publisher = node->create_publisher<test_msgs::msg::Empty>("test_topic", rclcpp::QoS(10)); | ||
| size_t callback_count = 0; | ||
| auto callback = [&callback_count](test_msgs::msg::Empty::ConstSharedPtr) {callback_count++;}; | ||
| auto subscription = | ||
| node->create_subscription<test_msgs::msg::Empty>( | ||
| "test_topic", rclcpp::QoS(10), std::move(callback)); | ||
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| ASSERT_EQ(callback_count, 0u); | ||
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| // Publish a message so that the new entities (i.e. the subscriber) already have work to do | ||
| publisher->publish(test_msgs::msg::Empty()); | ||
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| // We need to select a duration that is greater than | ||
| // the time taken to refresh the entities collection and rebuild the waitset. | ||
| // spin-all is expected to process the notifier waitable event, rebuild the collection, | ||
| // and then collect more work, finding the subscription message event. | ||
| // This duration has been selected empirically. | ||
| executor.spin_all(std::chrono::milliseconds(500)); | ||
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| // Verify that the callback is called as part of the spin above | ||
| EXPECT_EQ(callback_count, 1u); | ||
| } | ||
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| // Same test as `spin_all_doesnt_require_warmup`, but uses a callback group | ||
| // This test reproduces the bug reported by https://github.com/ros2/rclcpp/issues/2589 | ||
| TYPED_TEST(TestExecutorsMinimalInitialization, spin_all_doesnt_require_warmup_with_cbgroup) | ||
| { | ||
| using ExecutorType = TypeParam; | ||
| ExecutorType executor; | ||
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| // Enable intra-process to guarantee deterministic and synchronous delivery of the message / event | ||
| auto node_options = rclcpp::NodeOptions().use_intra_process_comms(true); | ||
| auto node = std::make_shared<rclcpp::Node>("test_node", node_options); | ||
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| auto callback_group = node->create_callback_group( | ||
| rclcpp::CallbackGroupType::MutuallyExclusive, | ||
| false); | ||
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| // Add callback group to the executor before creating the entities | ||
| executor.add_callback_group(callback_group, node->get_node_base_interface()); | ||
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| // Create entities, this will produce a notifier waitable event, telling the executor to refresh | ||
| // the entities collection | ||
| auto publisher = node->create_publisher<test_msgs::msg::Empty>("test_topic", rclcpp::QoS(10)); | ||
| size_t callback_count = 0; | ||
| auto callback = [&callback_count](test_msgs::msg::Empty::ConstSharedPtr) {callback_count++;}; | ||
| rclcpp::SubscriptionOptions sub_options; | ||
| sub_options.callback_group = callback_group; | ||
| auto subscription = | ||
| node->create_subscription<test_msgs::msg::Empty>( | ||
| "test_topic", rclcpp::QoS(10), std::move(callback), sub_options); | ||
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| ASSERT_EQ(callback_count, 0u); | ||
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| // Publish a message so that the new entities (i.e. the subscriber) already have work to do | ||
| publisher->publish(test_msgs::msg::Empty()); | ||
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| // We need to select a duration that is greater than | ||
| // the time taken to refresh the entities collection and rebuild the waitset. | ||
| // spin-all is expected to process the notifier waitable event, rebuild the collection, | ||
| // and then collect more work, finding the subscription message event. | ||
| // This duration has been selected empirically. | ||
| executor.spin_all(std::chrono::milliseconds(500)); | ||
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| // Verify that the callback is called as part of the spin above | ||
| EXPECT_EQ(callback_count, 1u); | ||
| } |