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test_subscription.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.
#include <gtest/gtest.h>
#include <chrono>
#include <memory>
#include <string>
#include <thread>
#include <vector>
#include "rclcpp/exceptions.hpp"
#include "rclcpp/rclcpp.hpp"
#include "test_msgs/msg/empty.hpp"
using namespace std::chrono_literals;
class TestSubscription : public ::testing::Test
{
public:
void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
{
(void)msg;
}
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
protected:
void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
{
node = std::make_shared<rclcpp::Node>("test_subscription", "/ns", node_options);
}
void TearDown()
{
node.reset();
}
rclcpp::Node::SharedPtr node;
};
struct TestParameters
{
TestParameters(rclcpp::QoS qos, std::string description)
: qos(qos), description(description) {}
rclcpp::QoS qos;
std::string description;
};
std::ostream & operator<<(std::ostream & out, const TestParameters & params)
{
out << params.description;
return out;
}
class TestSubscriptionInvalidIntraprocessQos
: public TestSubscription,
public ::testing::WithParamInterface<TestParameters>
{};
class TestSubscriptionSub : public ::testing::Test
{
public:
void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
{
(void)msg;
}
protected:
static void SetUpTestCase()
{
}
void SetUp()
{
node = std::make_shared<rclcpp::Node>("test_subscription", "/ns");
subnode = node->create_sub_node("sub_ns");
}
void TearDown()
{
node.reset();
}
rclcpp::Node::SharedPtr node;
rclcpp::Node::SharedPtr subnode;
};
class SubscriptionClassNodeInheritance : public rclcpp::Node
{
public:
SubscriptionClassNodeInheritance()
: Node("subscription_class_node_inheritance")
{
}
void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
{
(void)msg;
}
void CreateSubscription()
{
auto callback = std::bind(
&SubscriptionClassNodeInheritance::OnMessage, this, std::placeholders::_1);
using test_msgs::msg::Empty;
auto sub = this->create_subscription<Empty>("topic", 10, callback);
}
};
class SubscriptionClass
{
public:
void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
{
(void)msg;
}
void CreateSubscription()
{
auto node = std::make_shared<rclcpp::Node>("test_subscription_member_callback", "/ns");
auto callback = std::bind(&SubscriptionClass::OnMessage, this, std::placeholders::_1);
using test_msgs::msg::Empty;
auto sub = node->create_subscription<Empty>("topic", 10, callback);
}
};
/*
Testing subscription construction and destruction.
*/
TEST_F(TestSubscription, construction_and_destruction) {
initialize();
using test_msgs::msg::Empty;
auto callback = [](const Empty::SharedPtr msg) {
(void)msg;
};
{
auto sub = node->create_subscription<Empty>("topic", 10, callback);
}
{
ASSERT_THROW(
{
auto sub = node->create_subscription<Empty>("invalid_topic?", 10, callback);
}, rclcpp::exceptions::InvalidTopicNameError);
}
}
/*
Testing subscription construction and destruction for subnodes.
*/
TEST_F(TestSubscriptionSub, construction_and_destruction) {
using test_msgs::msg::Empty;
auto callback = [](const Empty::SharedPtr msg) {
(void)msg;
};
{
auto sub = subnode->create_subscription<Empty>("topic", 1, callback);
EXPECT_STREQ(sub->get_topic_name(), "/ns/sub_ns/topic");
}
{
auto sub = subnode->create_subscription<Empty>("/topic", 1, callback);
EXPECT_STREQ(sub->get_topic_name(), "/topic");
}
{
auto sub = subnode->create_subscription<Empty>("~/topic", 1, callback);
std::string expected_topic_name =
std::string(node->get_namespace()) + "/" + node->get_name() + "/topic";
EXPECT_STREQ(sub->get_topic_name(), expected_topic_name.c_str());
}
{
ASSERT_THROW(
{
auto sub = node->create_subscription<Empty>("invalid_topic?", 1, callback);
}, rclcpp::exceptions::InvalidTopicNameError);
}
}
/*
Testing subscription creation signatures.
*/
TEST_F(TestSubscription, various_creation_signatures) {
initialize();
using test_msgs::msg::Empty;
auto cb = [](test_msgs::msg::Empty::SharedPtr) {};
{
auto sub = node->create_subscription<Empty>("topic", 1, cb);
(void)sub;
}
{
auto sub = node->create_subscription<Empty>("topic", rclcpp::QoS(1), cb);
(void)sub;
}
{
auto sub =
node->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepLast(1)), cb);
(void)sub;
}
{
auto sub =
node->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepAll()), cb);
(void)sub;
}
{
auto sub = node->create_subscription<Empty>(
"topic", 42, cb, rclcpp::SubscriptionOptions());
(void)sub;
}
{
auto sub = rclcpp::create_subscription<Empty>(
node, "topic", 42, cb, rclcpp::SubscriptionOptions());
(void)sub;
}
}
/*
Testing subscriptions using std::bind.
*/
TEST_F(TestSubscription, callback_bind) {
initialize();
using test_msgs::msg::Empty;
{
// Member callback for plain class
SubscriptionClass subscription_object;
subscription_object.CreateSubscription();
}
{
// Member callback for class inheriting from rclcpp::Node
SubscriptionClassNodeInheritance subscription_object;
subscription_object.CreateSubscription();
}
{
// Member callback for class inheriting from testing::Test
// Regression test for https://github.com/ros2/rclcpp/issues/479 where the TEST_F GTest macro
// was interfering with rclcpp's `function_traits`.
auto callback = std::bind(&TestSubscription::OnMessage, this, std::placeholders::_1);
auto sub = node->create_subscription<Empty>("topic", 1, callback);
}
}
/*
Testing take.
*/
TEST_F(TestSubscription, take) {
initialize();
using test_msgs::msg::Empty;
auto do_nothing = [](std::shared_ptr<const test_msgs::msg::Empty>) {FAIL();};
{
auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing);
test_msgs::msg::Empty msg;
rclcpp::MessageInfo msg_info;
EXPECT_FALSE(sub->take(msg, msg_info));
}
{
rclcpp::SubscriptionOptions so;
so.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing, so);
rclcpp::PublisherOptions po;
po.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
auto pub = node->create_publisher<test_msgs::msg::Empty>("~/test_take", 1, po);
{
test_msgs::msg::Empty msg;
pub->publish(msg);
}
test_msgs::msg::Empty msg;
rclcpp::MessageInfo msg_info;
bool message_recieved = false;
auto start = std::chrono::steady_clock::now();
do {
message_recieved = sub->take(msg, msg_info);
std::this_thread::sleep_for(100ms);
} while (!message_recieved && std::chrono::steady_clock::now() - start < 10s);
EXPECT_TRUE(message_recieved);
}
// TODO(wjwwood): figure out a good way to test the intra-process exclusion behavior.
}
/*
Testing take_serialized.
*/
TEST_F(TestSubscription, take_serialized) {
initialize();
using test_msgs::msg::Empty;
auto do_nothing = [](std::shared_ptr<const rclcpp::SerializedMessage>) {FAIL();};
{
auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing);
std::shared_ptr<rclcpp::SerializedMessage> msg = sub->create_serialized_message();
rclcpp::MessageInfo msg_info;
EXPECT_FALSE(sub->take_serialized(*msg, msg_info));
}
{
rclcpp::SubscriptionOptions so;
so.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
auto sub = node->create_subscription<test_msgs::msg::Empty>("~/test_take", 1, do_nothing, so);
rclcpp::PublisherOptions po;
po.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
auto pub = node->create_publisher<test_msgs::msg::Empty>("~/test_take", 1, po);
{
test_msgs::msg::Empty msg;
pub->publish(msg);
}
std::shared_ptr<rclcpp::SerializedMessage> msg = sub->create_serialized_message();
rclcpp::MessageInfo msg_info;
bool message_recieved = false;
auto start = std::chrono::steady_clock::now();
do {
message_recieved = sub->take_serialized(*msg, msg_info);
std::this_thread::sleep_for(100ms);
} while (!message_recieved && std::chrono::steady_clock::now() - start < 10s);
EXPECT_TRUE(message_recieved);
}
}
/*
Testing subscription with intraprocess enabled and invalid QoS
*/
TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws) {
initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
rclcpp::QoS qos = GetParam().qos;
using test_msgs::msg::Empty;
{
auto callback = std::bind(
&TestSubscriptionInvalidIntraprocessQos::OnMessage,
this,
std::placeholders::_1);
ASSERT_THROW(
{auto subscription = node->create_subscription<Empty>(
"topic",
qos,
callback);},
std::invalid_argument);
}
}
static std::vector<TestParameters> invalid_qos_profiles()
{
std::vector<TestParameters> parameters;
parameters.reserve(3);
parameters.push_back(
TestParameters(
rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(),
"transient_local_qos"));
parameters.push_back(
TestParameters(
rclcpp::QoS(rclcpp::KeepAll()),
"keep_all_qos"));
return parameters;
}
INSTANTIATE_TEST_CASE_P(
TestSubscriptionThrows, TestSubscriptionInvalidIntraprocessQos,
::testing::ValuesIn(invalid_qos_profiles()),
::testing::PrintToStringParamName());