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mauropasseMauro Passerino
mauropasse
and
Mauro Passerino
authored
Add test_actions & test_transient_local (#157)
Co-authored-by: Mauro Passerino <[email protected]>
1 parent 9e816ed commit cf182e0

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-2
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4 files changed

+272
-2
lines changed

‎rclcpp_action/CMakeLists.txt‎

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@@ -9,6 +9,7 @@ find_package(rcl_action REQUIRED)
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find_package(test_msgs REQUIRED)
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find_package(rcpputils REQUIRED)
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find_package(rosidl_runtime_c REQUIRED)
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find_package(std_msgs REQUIRED)
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
@@ -86,6 +87,29 @@ if(BUILD_TESTING)
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add_subdirectory(test/benchmark)
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ament_add_gtest(test_ros2_actions test/test_actions.cpp TIMEOUT 180)
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if(TARGET test_ros2_actions)
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ament_target_dependencies(test_ros2_actions
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"test_msgs"
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"rclcpp"
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)
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target_link_libraries(test_ros2_actions
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${PROJECT_NAME}
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mimick
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)
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endif()
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ament_add_gtest(test_transient_local test/test_transient_local.cpp TIMEOUT 180)
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if(TARGET test_transient_local)
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ament_target_dependencies(test_transient_local
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"std_msgs"
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)
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target_link_libraries(test_transient_local
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${PROJECT_NAME}
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mimick
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)
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endif()
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ament_add_gtest(test_client test/test_client.cpp TIMEOUT 180)
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if(TARGET test_client)
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ament_target_dependencies(test_client

‎rclcpp_action/include/rclcpp_action/server.hpp‎

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@@ -675,7 +675,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
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rclcpp::get_logger("rclcpp_action"),
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"Action server can't send result response, missing IPC Action client: %s. "
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"Will do inter-process publish",
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this->action_name_);
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this->action_name_.c_str());
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return true;
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}

‎rclcpp_action/test/test_actions.hpp‎

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@@ -5,7 +5,6 @@
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#include <thread>
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#include <rclcpp/executors/single_threaded_executor.hpp>
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#include <rclcpp/executors/static_single_threaded_executor.hpp>
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#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
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#include <rclcpp/experimental/executors/events_executor/lock_free_events_queue.hpp>
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#include <rclcpp_action/client_goal_handle.hpp>
@@ -19,6 +18,7 @@ using GoalHandleFibonacci = typename rclcpp_action::ServerGoalHandle<Fibonacci>;
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using GoalHandleSharedPtr = typename std::shared_ptr<GoalHandleFibonacci>;
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using rclcpp::experimental::executors::EventsExecutor;
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using rclcpp::executors::SingleThreadedExecutor;
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// Define a structure to hold test info and utilities
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class TestInfo

‎rclcpp_action/test/test_transient_local.cpp‎

Lines changed: 246 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,246 @@
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// Copyright 2024 iRobot Corporation. All Rights Reserved.
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#include <gtest/gtest.h>
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#include <chrono>
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#include <thread>
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#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
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#include <rclcpp/experimental/executors/events_executor/lock_free_events_queue.hpp>
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#include <rclcpp/node.hpp>
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#include <rclcpp/publisher.hpp>
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#include <rclcpp/subscription.hpp>
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#include <std_msgs/msg/empty.hpp>
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struct transient_local_test_data_t
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{
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// Whether the publisher should use IPC
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bool pub_use_ipc {false};
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// How many early subscribers and whether they should use IPC
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std::vector<bool> early_subs_use_ipc {};
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// How many late subscribers and whether they should use IPC
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std::vector<bool> late_subs_use_ipc {};
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};
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static std::string to_string(
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const std::vector<bool> & bool_vec,
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const std::string & property_name)
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{
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if (bool_vec.empty()) {
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return "NONE;";
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}
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std::string result;
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for (bool b : bool_vec) {
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if (!b) {
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result += "Non-";
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}
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result += property_name + ", ";
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}
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return result;
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}
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class TransientLocalPermutationTest
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: public testing::Test, public testing::WithParamInterface<transient_local_test_data_t>
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{
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public:
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void SetUp() override
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{
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rclcpp::init(0, nullptr);
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auto p = GetParam();
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std::cout << "Test permutation: { "
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<< (p.pub_use_ipc ? "IPC Publisher, " : "Non-IPC Publisher, ")
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<< "Early: " << to_string(p.early_subs_use_ipc, "IPC Sub")
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<< " Late: " << to_string(p.late_subs_use_ipc, "IPC Sub")
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<< " }"<< std::endl;
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}
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void TearDown() override
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{
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rclcpp::shutdown();
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}
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};
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INSTANTIATE_TEST_SUITE_P(
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EarlySubsOnlyTest,
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TransientLocalPermutationTest,
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testing::Values(
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///// tests with only 1 early sub; not very interesting but let's run them
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// non-ipc pub, 1 early non-ipc sub
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transient_local_test_data_t{false, {false}, {}},
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// non-ipc pub, 1 early ipc sub
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transient_local_test_data_t{false, {true}, {}},
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// ipc pub, 1 early non-ipc sub
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transient_local_test_data_t{true, {false}, {}},
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// ipc pub, 1 early ipc sub
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transient_local_test_data_t{true, {true}, {}}
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));
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INSTANTIATE_TEST_SUITE_P(
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LateSubsOnlyTest,
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TransientLocalPermutationTest,
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testing::Values(
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///// tests with only 1 late sub
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// non-ipc pub, non-ipc late sub
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transient_local_test_data_t{false, {}, {false}},
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// non-ipc pub, ipc late sub
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transient_local_test_data_t{false, {}, {true}},
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// ipc pub, non-ipc late sub
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transient_local_test_data_t{true, {}, {false}},
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// ipc pub, ipc late sub
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transient_local_test_data_t{true, {}, {true}},
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///// tests with late mixed subscriptions
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// non-ipc pub, mixed late subs
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transient_local_test_data_t{false, {}, {true, false}},
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// ipc pub, mixed late subs
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transient_local_test_data_t{true, {}, {true, false}}
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));
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INSTANTIATE_TEST_SUITE_P(
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EarlyAndLateSubsTest,
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TransientLocalPermutationTest,
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testing::Values(
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///// tests with early and late subscriptions
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// non-ipc pub, 1 non-ipc early sub, 1 non-ipc late sub
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transient_local_test_data_t{false, {false}, {false}},
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// non-ipc pub, 1 non-ipc early sub, 1 ipc late sub
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transient_local_test_data_t{false, {false}, {true}},
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// non-ipc pub, 1 non-ipc early sub, mixed late sub
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transient_local_test_data_t{false, {false}, {true, false}},
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// non-ipc pub, 1 ipc early sub, 1 non-ipc late sub
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transient_local_test_data_t{false, {true}, {false}},
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// non-ipc pub, 1 ipc early sub, 1 ipc late sub
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transient_local_test_data_t{false, {true}, {true}},
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// non-ipc pub, 1 ipc early sub, mixed late sub
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transient_local_test_data_t{false, {true}, {true, false}},
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// ipc pub, 1 non-ipc early sub, 1 non-ipc late sub
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transient_local_test_data_t{true, {false}, {false}},
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// ipc pub, 1 non-ipc early sub, 1 ipc late sub
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transient_local_test_data_t{true, {false}, {true}},
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// ipc pub, 1 non-ipc early sub, mixed late sub
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transient_local_test_data_t{true, {false}, {true, false}},
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// ipc pub, 1 ipc early sub, 1 non-ipc late sub
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transient_local_test_data_t{true, {true}, {false}},
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// ipc pub, 1 ipc early sub, 1 ipc late sub
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transient_local_test_data_t{true, {true}, {true}},
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// ipc pub, 1 ipc early sub, mixed late sub
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transient_local_test_data_t{true, {true}, {true, false}}
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));
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struct sub_data_t
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{
133+
std::string id {};
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std::atomic<bool> msg_received {false};
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};
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TEST_P(TransientLocalPermutationTest, PublishWithNoSubs)
138+
{
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auto test_data = GetParam();
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auto pub_options = rclcpp::NodeOptions().use_intra_process_comms(test_data.pub_use_ipc);
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auto pub_node = rclcpp::Node::make_shared("pub_node", pub_options);
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auto publisher = rclcpp::create_publisher<std_msgs::msg::Empty>(
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pub_node,
146+
"test_topic",
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rclcpp::QoS(10).transient_local());
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auto sub_node = rclcpp::Node::make_shared("sub_node");
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// Add nodes to the executor
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auto events_queue = std::make_unique<rclcpp::experimental::executors::LockFreeEventsQueue>();
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auto executor = std::make_unique<rclcpp::experimental::executors::EventsExecutor>(std::move(events_queue), false, rclcpp::ExecutorOptions());
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executor->add_node(pub_node);
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executor->add_node(sub_node);
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auto executor_thread = std::thread([&](){ executor->spin(); });
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while (!executor->is_spinning()) {
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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}
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std::vector<std::shared_ptr<sub_data_t>> test_subs_data;
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std::vector<std::shared_ptr<rclcpp::SubscriptionBase>> test_subs;
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auto build_subs_from_vec = [&test_subs_data, &test_subs, sub_node=sub_node](
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const std::vector<bool> & subs_use_ipc,
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const std::string & prefix)
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{
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for (size_t i = 0; i < subs_use_ipc.size(); i++) {
172+
bool use_ipc = subs_use_ipc[i];
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auto sub_data = std::make_shared<sub_data_t>();
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sub_data->id = prefix + "_" + std::to_string(i) +"_with_" + (use_ipc ? "ipc" : "no-ipc");
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auto sub_options = rclcpp::SubscriptionOptions();
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sub_options.use_intra_process_comm = use_ipc ? rclcpp::IntraProcessSetting::Enable : rclcpp::IntraProcessSetting::Disable;
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auto sub = rclcpp::create_subscription<std_msgs::msg::Empty>(
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sub_node,
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"test_topic",
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rclcpp::QoS(10).transient_local(),
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[sub_data=sub_data](std_msgs::msg::Empty::ConstSharedPtr) { sub_data->msg_received = true; },
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sub_options);
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std::cout<<"Created " << sub_data->id << std::endl;
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test_subs_data.push_back(sub_data);
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test_subs.push_back(sub);
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}
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};
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// Create early subscriptions
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build_subs_from_vec(test_data.early_subs_use_ipc, "early");
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// Wait for discovery of early subs (to ensure that they are effectively "early")
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auto start_time = std::chrono::high_resolution_clock::now();
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while (std::chrono::high_resolution_clock::now() - start_time < std::chrono::seconds(10))
199+
{
200+
if (publisher->get_subscription_count() == test_subs.size()) {
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break;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(2));
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}
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ASSERT_EQ(publisher->get_subscription_count(), test_subs.size());
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// Publish the message
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auto msg = std::make_unique<std_msgs::msg::Empty>();
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publisher->publish(std::move(msg));
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// Create late subscriptions
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build_subs_from_vec(test_data.late_subs_use_ipc, "late");
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// Run until all subs have received a message or we timeout
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start_time = std::chrono::high_resolution_clock::now();
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while (std::chrono::high_resolution_clock::now() - start_time < std::chrono::seconds(20))
217+
{
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bool done = true;
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for (const auto & data : test_subs_data) {
220+
// This sub didn't get a message, so go to next iteration oft
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if (!data->msg_received) {
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done = false;
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break;
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}
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}
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if (done) {
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break;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(2));
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}
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executor->cancel();
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executor_thread.join();
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// Verify that all subs received data
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for (const auto & data : test_subs_data) {
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EXPECT_TRUE(data->msg_received) << data->id << " didn't receive a message";
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}
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}
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}

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