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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,135 +1,126 @@ | ||
| package rclgo_test | ||
|
|
||
| import ( | ||
| "context" | ||
| "testing" | ||
| "time" | ||
|
|
||
| . "github.com/smartystreets/goconvey/convey" //nolint:revive | ||
| "github.com/stretchr/testify/assert" | ||
| "github.com/stretchr/testify/require" | ||
| std_msgs_msg "github.com/tiiuae/rclgo/internal/msgs/std_msgs/msg" | ||
| "github.com/tiiuae/rclgo/pkg/rclgo" | ||
| ) | ||
|
|
||
| func TestNodeGetTopicNamesAndTypes(t *testing.T) { | ||
| setNewDomainID() | ||
| var ( | ||
| rclctx1, rclctx2 *rclgo.Context | ||
| node1, node2 *rclgo.Node | ||
| intpub *std_msgs_msg.Int64Publisher | ||
| err error | ||
| ) | ||
| defer func() { | ||
| if rclctx1 != nil { | ||
| rclctx1.Close() | ||
| func requireTopicNamesAndTypes(t *testing.T, node *rclgo.Node, expected map[string][]string) { | ||
| t.Helper() | ||
| ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second) | ||
| defer cancel() | ||
| for { | ||
| actual, err := node.GetTopicNamesAndTypes(true) | ||
| require.NoError(t, err) | ||
| if assert.ObjectsAreEqualValues(expected, actual) { | ||
| return | ||
| } | ||
| if rclctx2 != nil { | ||
| rclctx2.Close() | ||
| select { | ||
| case <-ctx.Done(): | ||
| require.EqualValues(t, expected, actual) | ||
| case <-time.After(100 * time.Millisecond): | ||
| } | ||
| }() | ||
| Convey("Scenario: Node.GetTopicNamesAndTypes works correctly", t, func() { | ||
| Convey("Create a rcl context and node", func() { | ||
| rclctx1, err = newDefaultRCLContext() | ||
| So(err, ShouldBeNil) | ||
| node1, err = rclctx1.NewNode("node1", "topic_names_and_types_test") | ||
| So(err, ShouldBeNil) | ||
| rclctx2, err = newDefaultRCLContext() | ||
| So(err, ShouldBeNil) | ||
| node2, err = rclctx2.NewNode("node2", "topic_names_and_types_test") | ||
| So(err, ShouldBeNil) | ||
| }) | ||
| Convey("Check that topic names and types are correct", func() { | ||
| Convey("node1 in empty network", func() { | ||
| namesAndTypes, err := node1.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| }) | ||
| }) | ||
| Convey("node2 in empty network", func() { | ||
| namesAndTypes, err := node2.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| }) | ||
| }) | ||
| Convey("new publisher", func() { | ||
| _, err = std_msgs_msg.NewBoolPublisher(node1, "test_topic", nil) | ||
| So(err, ShouldBeNil) | ||
| }) | ||
| Convey("node1 after publisher", func() { | ||
| namesAndTypes, err := node1.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| }) | ||
| }) | ||
| Convey("node2 after publisher", func() { | ||
| namesAndTypes, err := node2.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| }) | ||
| }) | ||
| Convey("new int publisher", func() { | ||
| intpub, err = std_msgs_msg.NewInt64Publisher(node1, "test_topic2", nil) | ||
| So(err, ShouldBeNil) | ||
| }) | ||
| Convey("node1 after creating int publisher", func() { | ||
| namesAndTypes, err := node1.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
| }) | ||
| Convey("node2 after creating int publisher", func() { | ||
| namesAndTypes, err := node2.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| }) | ||
| }) | ||
| Convey("publish int", func() { | ||
| err = intpub.Publish(std_msgs_msg.NewInt64()) | ||
| So(err, ShouldBeNil) | ||
| }) | ||
| Convey("node1 after publishing int", func() { | ||
| namesAndTypes, err := node1.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
| }) | ||
| Convey("node2 after publishing int", func() { | ||
| namesAndTypes, err := node2.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| }) | ||
| }) | ||
| Convey("new string publisher", func() { | ||
| _, err = std_msgs_msg.NewStringPublisher(node2, "test_topic", nil) | ||
| So(err, ShouldBeNil) | ||
| }) | ||
| Convey("node1 after second publisher", func() { | ||
| namesAndTypes, err := node1.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool", "std_msgs/msg/String"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
| }) | ||
| Convey("node2 after second publisher", func() { | ||
| namesAndTypes, err := node2.GetTopicNamesAndTypes(true) | ||
| So(err, ShouldBeNil) | ||
| So(namesAndTypes, ShouldResemble, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/String"}, | ||
| }) | ||
| }) | ||
| }) | ||
| } | ||
| } | ||
|
|
||
| func TestNodeGetTopicNamesAndTypes(t *testing.T) { | ||
| setNewDomainID() | ||
|
|
||
| rclctx1, err := newDefaultRCLContext() | ||
| require.NoError(t, err) | ||
| defer rclctx1.Close() | ||
| node1, err := rclctx1.NewNode("node1", "topic_names_and_types_test") | ||
| require.NoError(t, err) | ||
|
|
||
| rclctx2, err := newDefaultRCLContext() | ||
| require.NoError(t, err) | ||
| defer rclctx2.Close() | ||
| node2, err := rclctx2.NewNode("node2", "topic_names_and_types_test") | ||
| require.NoError(t, err) | ||
|
|
||
| t.Log("node1 in empty network") | ||
| requireTopicNamesAndTypes(t, node1, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| }) | ||
|
|
||
| t.Log("node2 in empty network") | ||
| requireTopicNamesAndTypes(t, node2, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| }) | ||
|
|
||
| t.Log("new publisher") | ||
| _, err = std_msgs_msg.NewBoolPublisher(node1, "test_topic", nil) | ||
| require.NoError(t, err) | ||
|
|
||
| t.Log("node1 after publisher") | ||
| requireTopicNamesAndTypes(t, node1, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| }) | ||
|
|
||
| t.Log("node2 after publisher") | ||
| requireTopicNamesAndTypes(t, node2, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| }) | ||
|
|
||
| t.Log("new int publisher") | ||
| intpub, err := std_msgs_msg.NewInt64Publisher(node1, "test_topic2", nil) | ||
| require.NoError(t, err) | ||
|
|
||
| t.Log("node1 after creating int publisher") | ||
| requireTopicNamesAndTypes(t, node1, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
|
|
||
| t.Log("node2 after creating int publisher") | ||
| requireTopicNamesAndTypes(t, node2, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
|
|
||
| t.Log("publish int") | ||
| err = intpub.Publish(std_msgs_msg.NewInt64()) | ||
| require.NoError(t, err) | ||
|
|
||
| t.Log("node1 after publishing int") | ||
| requireTopicNamesAndTypes(t, node1, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
|
|
||
| t.Log("node2 after publishing int") | ||
| requireTopicNamesAndTypes(t, node2, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
|
|
||
| t.Log("new string publisher") | ||
| _, err = std_msgs_msg.NewStringPublisher(node2, "test_topic", nil) | ||
| require.NoError(t, err) | ||
|
|
||
| t.Log("node1 after second publisher") | ||
| requireTopicNamesAndTypes(t, node1, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool", "std_msgs/msg/String"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
|
|
||
| t.Log("node2 after second publisher") | ||
| requireTopicNamesAndTypes(t, node2, map[string][]string{ | ||
| "/rosout": {"rcl_interfaces/msg/Log"}, | ||
| "/topic_names_and_types_test/test_topic": {"std_msgs/msg/Bool", "std_msgs/msg/String"}, | ||
| "/topic_names_and_types_test/test_topic2": {"std_msgs/msg/Int64"}, | ||
| }) | ||
| } |