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Refs #21710: DataWriter get_matched_subscriptions() get_matched_subsc…
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…ription_data() test implementation

Signed-off-by: Mario Dominguez <[email protected]>
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@Mario-DL
Mario-DL committed Sep 25, 2024
1 parent 419e5c4 commit bfdb23e
Showing 1 changed file with 301 additions and 0 deletions.
301 changes: 301 additions & 0 deletions test/blackbox/common/DDSBlackboxTestsDataWriter.cpp
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#include <rtps/transport/test_UDPv4Transport.h>

#include "BlackboxTests.hpp"
#include "PubSubParticipant.hpp"
#include "PubSubReader.hpp"
#include "PubSubWriter.hpp"

Expand Down Expand Up @@ -533,6 +534,306 @@ TEST(DDSDataWriter, datawriter_qos_use_topic_qos)
ASSERT_EQ(control_qos, test_qos);
}

bool validate_subscription_builtin_topic_data(
const eprosima::fastdds::dds::builtin::SubscriptionBuiltinTopicData& subdata,
const eprosima::fastdds::dds::DataReader& datareader)
{
bool ret = true;

auto dr_qos = datareader.get_qos();
auto pub_qos = datareader.get_subscriber()->get_qos();

eprosima::fastdds::dds::builtin::BuiltinTopicKey_t dr_key, part_key;
eprosima::fastrtps::rtps::GuidPrefix_t part_guid_prefix =
datareader.get_subscriber()->get_participant()->guid().guidPrefix;

// This conversions may be included later in utils
dr_key.value[0] = 0;
dr_key.value[1] = 0;
dr_key.value[2] = static_cast<uint32_t>(datareader.guid().entityId.value[0]) << 24
| static_cast<uint32_t>(datareader.guid().entityId.value[1]) << 16
| static_cast<uint32_t>(datareader.guid().entityId.value[2]) << 8
| static_cast<uint32_t>(datareader.guid().entityId.value[3]);

part_key.value[0] = static_cast<uint32_t>(part_guid_prefix.value[0]) << 24
| static_cast<uint32_t>(part_guid_prefix.value[1]) << 16
| static_cast<uint32_t>(part_guid_prefix.value[2]) << 8
| static_cast<uint32_t>(part_guid_prefix.value[3]);
part_key.value[1] = static_cast<uint32_t>(part_guid_prefix.value[4]) << 24
| static_cast<uint32_t>(part_guid_prefix.value[5]) << 16
| static_cast<uint32_t>(part_guid_prefix.value[6]) << 8
| static_cast<uint32_t>(part_guid_prefix.value[7]);
part_key.value[2] = static_cast<uint32_t>(part_guid_prefix.value[8]) << 24
| static_cast<uint32_t>(part_guid_prefix.value[9]) << 16
| static_cast<uint32_t>(part_guid_prefix.value[10]) << 8
| static_cast<uint32_t>(part_guid_prefix.value[11]);

ret &= (0 == memcmp(subdata.key.value, dr_key.value, sizeof(eprosima::fastdds::dds::builtin::BuiltinTopicKey_t)));
ret &=
(0 ==
memcmp(subdata.participant_key.value, part_key.value,
sizeof(eprosima::fastdds::dds::builtin::BuiltinTopicKey_t)));
ret &= (subdata.topic_name == datareader.get_topicdescription()->get_name());
ret &= (subdata.type_name == datareader.get_topicdescription()->get_type_name());

// DataReader Qos
ret &= (subdata.durability == dr_qos.durability());
ret &= (subdata.deadline == dr_qos.deadline());
ret &= (subdata.latency_budget == dr_qos.latency_budget());
ret &= (subdata.liveliness == dr_qos.liveliness());
ret &= (subdata.reliability == dr_qos.reliability());
ret &= (subdata.ownership == dr_qos.ownership());
ret &= (subdata.destination_order == dr_qos.destination_order());
ret &= (subdata.user_data == dr_qos.user_data());
// time based filter not implemented

// Subscriber Qos
ret &= (subdata.presentation == pub_qos.presentation());
ret &= (subdata.partition == pub_qos.partition());
ret &= (subdata.group_data == pub_qos.group_data());

return ret;
}

/**
* Refers to DDS-DW-API-GMSD-01 from the test plan.
*
* get_matched_subscription_data() must return RETCODE_BAD_PARAMETER
* if the subscription is not matched.
*/
TEST(DDSDataWriter, datawriter_get_matched_subscription_data_bad_parameter)
{
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;

PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType> reader_1(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType> reader_2(TEST_TOPIC_NAME);

eprosima::fastdds::dds::builtin::SubscriptionBuiltinTopicData subdata;

writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
.init();

reader_1.reliability(RELIABLE_RELIABILITY_QOS)
.init();
reader_2.ownership_exclusive()
.init();

ASSERT_TRUE(writer.isInitialized());
ASSERT_TRUE(reader_1.isInitialized());
ASSERT_TRUE(reader_2.isInitialized());

// Writer should not be matched with any reader
writer.wait_discovery(2, std::chrono::seconds(2));

ASSERT_TRUE(!writer.is_matched());

auto& native_writer = writer.get_native_writer();

InstanceHandle_t r1_handle = reader_1.get_native_reader().get_instance_handle();
ReturnCode_t ret = native_writer.get_matched_subscription_data(subdata, r1_handle);

ASSERT_EQ(ret, ReturnCode_t::RETCODE_BAD_PARAMETER);

InstanceHandle_t r2_handle = reader_2.get_native_reader().get_instance_handle();
ret = native_writer.get_matched_subscription_data(subdata, r2_handle);

ASSERT_EQ(ret, ReturnCode_t::RETCODE_BAD_PARAMETER);
}

/**
* Refers to DDS-DW-API-GMSD-02 from the test plan.
*
* The operation must succeed when the subscription is matched and correctly
* retrieve the publication data. Parameterize the test for different transports.
*/
TEST_P(DDSDataWriter, datawriter_get_matched_subscription_data_correctly_behaves)
{
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;

PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType> reader_1(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType> reader_2(TEST_TOPIC_NAME);

eprosima::fastdds::dds::builtin::SubscriptionBuiltinTopicData r1_subdata, r2_subdata;

writer.init();

reader_1.init();
reader_2.reliability(RELIABLE_RELIABILITY_QOS)
.init();

ASSERT_TRUE(writer.isInitialized());
ASSERT_TRUE(reader_1.isInitialized());
ASSERT_TRUE(reader_2.isInitialized());

// Writer must match with both readers
writer.wait_discovery(2, std::chrono::seconds::zero());

ASSERT_EQ(writer.get_matched(), 2u);

auto& native_writer = writer.get_native_writer();

InstanceHandle_t r1_handle = reader_1.get_native_reader().get_instance_handle();
ReturnCode_t ret = native_writer.get_matched_subscription_data(r1_subdata, r1_handle);

ASSERT_EQ(ret, ReturnCode_t::RETCODE_OK);
ASSERT_TRUE(validate_subscription_builtin_topic_data(r1_subdata, reader_1.get_native_reader()));

InstanceHandle_t r2_handle = reader_2.get_native_reader().get_instance_handle();
ret = native_writer.get_matched_subscription_data(r2_subdata, r2_handle);

ASSERT_EQ(ret, ReturnCode_t::RETCODE_OK);
ASSERT_TRUE(validate_subscription_builtin_topic_data(r2_subdata, reader_2.get_native_reader()));
}

/**
* Refers to DDS-DW-API-GMS-01 from the test plan.
*
* get_matched_subscriptions() must return RETCODE_OK
* with an empty list if no DataWriters are matched.
*/
TEST(DDSDataWriter, datawriter_get_matched_subscriptions_ok_empty_list)
{
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;

PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType> reader_1(TEST_TOPIC_NAME);
PubSubReader<HelloWorldPubSubType> reader_2(TEST_TOPIC_NAME);

std::vector<InstanceHandle_t> sub_handles;

writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
.init();

reader_1.reliability(RELIABLE_RELIABILITY_QOS)
.init();

reader_2.ownership_exclusive()
.init();

ASSERT_TRUE(writer.isInitialized());
ASSERT_TRUE(reader_1.isInitialized());
ASSERT_TRUE(reader_2.isInitialized());

// Writer should not be matched with any reader
writer.wait_discovery(2, std::chrono::seconds(2));
ASSERT_FALSE(writer.is_matched());

auto& native_writer = writer.get_native_writer();
ReturnCode_t ret = native_writer.get_matched_subscriptions(sub_handles);

ASSERT_EQ(ret, ReturnCode_t::RETCODE_OK);
ASSERT_EQ(sub_handles.size(), 0u);
}

/**
* Refers to DDS-DW-API-GMS-02 from the test plan.
*
* get_matched_subscriptions() must provide the correct list of matched subscription handles.
* Parameterize the test for different transports.
*/
TEST_P(DDSDataWriter, datawriter_get_matched_subscriptions_correctly_behaves)
{
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;

const size_t num_readers = 5;

PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
std::vector<std::unique_ptr<PubSubReader<HelloWorldPubSubType>>> readers;
std::vector<InstanceHandle_t> expected_sub_handles;
std::vector<InstanceHandle_t> sub_handles;

readers.reserve(num_readers);
sub_handles.reserve(num_readers);

writer.init();

ASSERT_TRUE(writer.isInitialized());

for (size_t i = 0; i < num_readers; ++i)
{
readers.emplace_back(new PubSubReader<HelloWorldPubSubType>(TEST_TOPIC_NAME));
readers.back()->init();
ASSERT_TRUE(readers.back()->isInitialized());
expected_sub_handles.emplace_back(readers.back()->get_native_reader().get_instance_handle());
}

// Wait for discovery
writer.wait_discovery(num_readers, std::chrono::seconds::zero());
ASSERT_EQ(writer.get_matched(), num_readers);

auto& native_writer = writer.get_native_writer();
ReturnCode_t ret = native_writer.get_matched_subscriptions(sub_handles);

// Check that the list of matched publication handles is correct
ASSERT_EQ(ret, ReturnCode_t::RETCODE_OK);
ASSERT_EQ(sub_handles.size(), num_readers);
ASSERT_TRUE(std::is_permutation(sub_handles.begin(), sub_handles.end(), expected_sub_handles.begin()));

// Remove two readers and check that the list of matched publication handles is updated
readers.pop_back();
readers.pop_back();
expected_sub_handles.pop_back();
expected_sub_handles.pop_back();

// Wait for undiscovery
writer.wait_reader_undiscovery(static_cast<unsigned int>(num_readers - 2));

sub_handles.clear();
ret = native_writer.get_matched_subscriptions(sub_handles);
ASSERT_EQ(ret, ReturnCode_t::RETCODE_OK);
ASSERT_EQ(sub_handles.size(), static_cast<size_t>(num_readers - 2));
ASSERT_TRUE(std::is_permutation(sub_handles.begin(), sub_handles.end(), expected_sub_handles.begin()));
}

/**
* Refers to DDS-DW-API-GMS-03 from the test plan.
*
* The operation must provide the correct list of matched subscription handles in multiple
* participants scenario. Parameterize the test for different transports.
*/
TEST_P(DDSDataWriter, datawriter_get_matched_subscriptions_multiple_participants_correctly_behave)
{
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;

PubSubParticipant<HelloWorldPubSubType> part_1(1, 1, 1, 1);
PubSubParticipant<HelloWorldPubSubType> part_2(1, 1, 1, 1);

part_1.sub_topic_name(TEST_TOPIC_NAME + "_1");
part_2.pub_topic_name(TEST_TOPIC_NAME + "_1");

ASSERT_TRUE(part_1.init_participant());
ASSERT_TRUE(part_1.init_publisher(0));
ASSERT_TRUE(part_1.init_subscriber(0));

ASSERT_TRUE(part_2.init_participant());
ASSERT_TRUE(part_2.init_subscriber(0));
ASSERT_TRUE(part_2.init_publisher(0));

part_1.pub_wait_discovery();
part_1.sub_wait_discovery();

part_2.pub_wait_discovery();
part_2.sub_wait_discovery();

auto& writer_p1 = part_1.get_native_writer(0);
auto& writer_p2 = part_2.get_native_writer(0);

std::vector<InstanceHandle_t> sub_handles_p1;
std::vector<InstanceHandle_t> sub_handles_p2;

ReturnCode_t ret = writer_p1.get_matched_subscriptions(sub_handles_p1);
ASSERT_EQ(ret, ReturnCode_t::RETCODE_OK);
ASSERT_EQ(sub_handles_p1.size(), 1u);
ASSERT_EQ(sub_handles_p1[0], part_2.get_native_reader(0).get_instance_handle());

ret = writer_p2.get_matched_subscriptions(sub_handles_p2);
ASSERT_EQ(ret, ReturnCode_t::RETCODE_OK);
ASSERT_EQ(sub_handles_p2.size(), 1u);
ASSERT_EQ(sub_handles_p2[0], part_1.get_native_reader(0).get_instance_handle());
}

#ifdef INSTANTIATE_TEST_SUITE_P
#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z, w) INSTANTIATE_TEST_SUITE_P(x, y, z, w)
#else
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