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Merged
ivanpauno merged 6 commits into from
Aug 26, 2020
Merged

Test subscription events #15

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797fbc0
Add basic test for RequestedQosIncompatible event
ivanpauno Aug 20, 2020
63435b7
Test RequestedQosIncompatible subscription event with executor
ivanpauno Aug 20, 2020
fdeb7d2
remove debug log
ivanpauno Aug 26, 2020
80c58bc
remove debug log
ivanpauno Aug 26, 2020
aa4c40c
remove debug log
ivanpauno Aug 26, 2020
f51b9ac
remove debug log
ivanpauno Aug 26, 2020
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89 changes: 74 additions & 15 deletions rcljava/src/test/java/org/ros2/rcljava/SpinTest.java
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@
import org.ros2.rcljava.qos.policies.Reliability;
import org.ros2.rcljava.qos.QoSProfile;
import org.ros2.rcljava.subscription.Subscription;
import org.ros2.rcljava.subscription.statuses.RequestedQosIncompatible;

public class SpinTest {
public static class TimerCallback implements Callback {
Expand Down Expand Up @@ -345,7 +346,7 @@ public Node getNode() {
}

// custom event consumer
public static class EventConsumer implements Consumer<OfferedQosIncompatible> {
public static class OfferedQosIncompatibleConsumer implements Consumer<OfferedQosIncompatible> {
public boolean done = false;

public void accept(final OfferedQosIncompatible status) {
Expand All @@ -357,35 +358,93 @@ public void accept(final OfferedQosIncompatible status) {
}

@Test
public final void testSpinEvent() {
public final void testSpinPublisherEvent() {
String identifier = RCLJava.getRMWIdentifier();
if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) {
// OfferedQosIncompatible event not supported in these implementations
// OfferedQosIncompatible events is not supported in these implementations.
return;
}
final Node node = RCLJava.createNode("test_node_spin_event");
final Node node = RCLJava.createNode("test_node_spin_publisher_event");
Publisher<std_msgs.msg.String> publisher = node.<std_msgs.msg.String>createPublisher(
std_msgs.msg.String.class, "test_topic_spin_event", new QoSProfile(
std_msgs.msg.String.class, "test_topic_spin_publisher_event", new QoSProfile(
History.KEEP_LAST, 1,
Reliability.BEST_EFFORT,
Durability.VOLATILE,
false));
// create a OfferedQoSIncompatible event handler with custom event consumer
EventConsumer eventConsumer = new EventConsumer();
OfferedQosIncompatibleConsumer eventConsumer = new OfferedQosIncompatibleConsumer();
EventHandler eventHandler = publisher.createEventHandler(
OfferedQosIncompatible.factory, eventConsumer
);
// create an incompatible subscription (reliable vs best effort publisher)
Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
std_msgs.msg.String.class, "test_topic_spin_event",
new Consumer<std_msgs.msg.String>() {
public void accept(final std_msgs.msg.String msg) {}
},
new QoSProfile(
History.KEEP_LAST, 1,
Reliability.RELIABLE,
Durability.VOLATILE,
false));
std_msgs.msg.String.class, "test_topic_spin_publisher_event",
new Consumer<std_msgs.msg.String>() {
public void accept(final std_msgs.msg.String msg) {}
},
new QoSProfile(
History.KEEP_LAST, 1,
Reliability.RELIABLE,
Durability.VOLATILE,
false));
// set up executor
ComposableNode composableNode = new ComposableNode() {
public Node getNode() {
return node;
}
};
Executor executor = new SingleThreadedExecutor();
executor.addNode(composableNode);
long start = System.currentTimeMillis();
do {
executor.spinAll((1000 + System.currentTimeMillis() - start) * 1000 * 1000);
} while (!eventConsumer.done && System.currentTimeMillis() < start + 1000);
assert(eventConsumer.done);
}

public static class RequestedQosIncompatibleConsumer
implements Consumer<RequestedQosIncompatible> {
public boolean done = false;

public void accept(final RequestedQosIncompatible status) {
assertEquals(status.totalCount, 1);
assertEquals(status.totalCountChange, 1);
assertEquals(status.lastPolicyKind, RequestedQosIncompatible.PolicyKind.RELIABILITY);
this.done = true;
}
}

@Test
public final void testSpinSubscriptionEvent() {
String identifier = RCLJava.getRMWIdentifier();
if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) {
// RequestedQosIncompatible events is not supported in these implementations.
return;
}
final Node node = RCLJava.createNode("test_node_spin_subscription_event");
// create an incompatible subscription (reliable vs best effort publisher)
Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
std_msgs.msg.String.class, "test_topic_spin_subscription_event",
new Consumer<std_msgs.msg.String>() {
public void accept(final std_msgs.msg.String msg) {}
},
new QoSProfile(
History.KEEP_LAST, 1,
Reliability.RELIABLE,
Durability.VOLATILE,
false));
// create a RequestedQoSIncompatible event handler with custom event consumer
RequestedQosIncompatibleConsumer eventConsumer = new RequestedQosIncompatibleConsumer();
EventHandler eventHandler = subscription.createEventHandler(
RequestedQosIncompatible.factory, eventConsumer
);
Publisher<std_msgs.msg.String> publisher = node.<std_msgs.msg.String>createPublisher(
std_msgs.msg.String.class, "test_topic_spin_subscription_event", new QoSProfile(
History.KEEP_LAST, 1,
Reliability.BEST_EFFORT,
Durability.VOLATILE,
false));

// set up executor
ComposableNode composableNode = new ComposableNode() {
public Node getNode() {
Expand Down
31 changes: 31 additions & 0 deletions rcljava/src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,9 @@

import org.ros2.rcljava.RCLJava;
import org.ros2.rcljava.consumers.Consumer;
import org.ros2.rcljava.events.EventHandler;
import org.ros2.rcljava.node.Node;
import org.ros2.rcljava.subscription.statuses.RequestedQosIncompatible;

public class SubscriptionTest {
@BeforeClass
Expand Down Expand Up @@ -53,4 +55,33 @@ public void accept(final std_msgs.msg.String msg) {}

RCLJava.shutdown();
}

@Test
public final void testCreateRequestedQosIncompatibleEvent() {
String identifier = RCLJava.getRMWIdentifier();
if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) {
// event not supported in these implementations
return;
}
RCLJava.rclJavaInit();
Node node = RCLJava.createNode("test_node");
Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
std_msgs.msg.String.class, "test_topic", new Consumer<std_msgs.msg.String>() {
public void accept(final std_msgs.msg.String msg) {}
});
EventHandler eventHandler = subscription.createEventHandler(
RequestedQosIncompatible.factory, new Consumer<RequestedQosIncompatible>() {
public void accept(final RequestedQosIncompatible status) {
assertEquals(status.totalCount, 0);
assertEquals(status.totalCountChange, 0);
assertEquals(status.lastPolicyKind, RequestedQosIncompatible.PolicyKind.INVALID);
}
}
);
assertNotEquals(0, eventHandler.getHandle());
// force executing the callback, so we check that taking an event works
eventHandler.executeCallback();
RCLJava.shutdown();
assertEquals(0, eventHandler.getHandle());
}
}