iox-#1030 Speed up posh tests

doc/website/advanced/configuration-guide.md

@@ -184,5 +184,33 @@ it as constructor argument to the RouDi instance.
 In the cmake file entry of the custom RouDi executable you need to ensure that it
 is **not** linking against `iceoryx_posh_config` to ensure using the static configuration.
 
-An example of a static config can be found
+```cpp
+int main(int argc, char* argv[])
+{
+    iox::RouDiConfig_t roudiConfig;
+
+    // create mempools
+    iox::mepoo::MePooConfig mepooConfig;
+    mepooConfig.addMemPool({128, 10000}); // payload in bytes, chunk count
+    mepooConfig.addMemPool({265, 10000});
+
+    auto currentGroup = iox::posix::PosixGroup::getGroupOfCurrentProcess();
+    roudiConfig.m_sharedMemorySegments.push_back({currentGroup.getName(), currentGroup.getName(), mepooConfig});
+
+    // configure the chunk count for the introspection; each introspection topic gets this number of chunks
+    roudiConfig.introspectionChunkCount = 10;
+
+    // configure the chunk count for the service discovery
+    roudiConfig.discoveryChunkCount = 10;
+
+    // create a roudi instance
+    iox::config::CmdLineParserConfigFileOption cmdLineParser;
+    IceOryxRouDiApp roudi(cmdLineParser.parse(argc, argv).expect("Valid CLI parameter"), roudiConfig);
+
+    // run roudi
+    return roudi.run();
+}
+```
+
+A working example of a static config can be found
 [here](../../../iceoryx_examples/iceperf/roudi_main_static_config.cpp).

doc/website/release-notes/iceoryx-unreleased.md

@@ -90,6 +90,7 @@
 - Fix `expected<void, Error>` is unusable due to `final` [\#1976](https://github.com/eclipse-iceoryx/iceoryx/issues/1976)
 - MacOS tests that use `EXPECT_DEATH` stuck [#898](https://github.com/eclipse-iceoryx/iceoryx/issues/898)
 - Remove `EXPECT_DEATH` [#1613](https://github.com/eclipse-iceoryx/iceoryx/issues/1613)
+- ServiceDiscovery uses instrospection MemPools [#1359](https://github.com/eclipse-iceoryx/iceoryx/issues/1359)
 
 **Refactoring:**
 
@@ -154,6 +155,7 @@
 - Move `std::string` dependency from `iox::string` to `std_string_support.hpp` in `iceoryx_dust` [\#1612](https://github.com/eclipse-iceoryx/iceoryx/issues/1612)
 - Better align `iox::expected` with `std::expected` [\#1969](https://github.com/eclipse-iceoryx/iceoryx/issues/1969)
 - Use logger for "RouDi is ready for clients" message [\#1994](https://github.com/eclipse-iceoryx/iceoryx/issues/1994)
+- Speed up posh tests [#1030](https://github.com/eclipse-iceoryx/iceoryx/issues/1030)
 
 **Workflow:**
 

iceoryx_binding_c/test/moduletests/test_chunk.cpp

@@ -22,6 +22,7 @@ extern "C" {
 
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
+#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 
 namespace
@@ -33,6 +34,11 @@ using namespace iox::testing;
 class Chunk_test : public RouDi_GTest
 {
   public:
+    Chunk_test()
+        : RouDi_GTest(MinimalRouDiConfigBuilder().create())
+    {
+    }
+
     void SetUp() override
     {
         iox_runtime_init("hypnotoad");

iceoryx_binding_c/test/moduletests/test_node.cpp

@@ -18,6 +18,7 @@
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
 #include "iceoryx_posh/runtime/posh_runtime.hpp"
+#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 #include <gtest/gtest.h>
 
@@ -35,6 +36,11 @@ using namespace iox::testing;
 class iox_node_test : public RouDi_GTest
 {
   public:
+    iox_node_test()
+        : RouDi_GTest(MinimalRouDiConfigBuilder().create())
+    {
+    }
+
     void SetUp()
     {
         iox_runtime_init(m_runtimeName.c_str());

iceoryx_binding_c/test/moduletests/test_publisher.cpp

@@ -24,6 +24,7 @@
 #include "iceoryx_posh/internal/popo/ports/publisher_port_roudi.hpp"
 #include "iceoryx_posh/internal/popo/ports/publisher_port_user.hpp"
 #include "iceoryx_posh/mepoo/mepoo_config.hpp"
+#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_environment/roudi_environment.hpp"
 
 using namespace iox;
@@ -142,7 +143,7 @@ TEST(iox_pub_test_DeathTest, initPublisherWithNotInitializedPublisherOptionsTerm
 TEST_F(iox_pub_test, initPublisherWithDefaultOptionsWorks)
 {
     ::testing::Test::RecordProperty("TEST_ID", "d2e677cd-2fcc-47a2-80e6-2d08245b7c1a");
-    iox::roudi::RouDiEnvironment roudiEnv;
+    iox::roudi::RouDiEnvironment roudiEnv{MinimalRouDiConfigBuilder().create()};
 
     iox_runtime_init("hypnotoad");
 
@@ -464,13 +465,8 @@ TEST(iox_pub_options_test, publisherOptionsInitializationCheckReturnsFalseWithou
 TEST(iox_pub_options_test, publisherOptionInitializationWithNullptrDoesNotCrash)
 {
     ::testing::Test::RecordProperty("TEST_ID", "fe415d38-eaaf-466e-b7d8-d220612cb344");
-    EXPECT_EXIT(
-        {
-            iox_pub_options_init(nullptr);
-            exit(0);
-        },
-        ::testing::ExitedWithCode(0),
-        ".*");
+
+    IOX_EXPECT_NO_FATAL_FAILURE<iox::HoofsError>([&] { iox_pub_options_init(nullptr); });
 }
 
 } // namespace

iceoryx_binding_c/test/moduletests/test_runtime.cpp

@@ -21,6 +21,7 @@ extern "C" {
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
 #include "iceoryx_posh/iceoryx_posh_types.hpp"
+#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 
 namespace
@@ -32,6 +33,11 @@ using namespace iox::testing;
 class BindingC_Runtime_test : public RouDi_GTest
 {
   public:
+    BindingC_Runtime_test()
+        : RouDi_GTest(MinimalRouDiConfigBuilder().create())
+    {
+    }
+
     void SetUp()
     {
     }

iceoryx_binding_c/test/moduletests/test_service_discovery.cpp

@@ -17,6 +17,7 @@
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
 #include "iceoryx_posh/runtime/service_discovery.hpp"
+#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 
 using namespace iox;
@@ -39,6 +40,10 @@ using description_vector = vector<iox_service_description_t, MAX_FINDSERVICE_RES
 class iox_service_discovery_test : public RouDi_GTest
 {
   public:
+    iox_service_discovery_test()
+        : RouDi_GTest(MinimalRouDiConfigBuilder().create())
+    {
+    }
     void SetUp() override
     {
         iox_runtime_init("runtime");
@@ -76,6 +81,10 @@ TEST_F(iox_service_discovery_test,
        FindServiceWithCallableAndContextDataWithNullptrsForServiceInstanceEventReturnsAllServices)
 {
     ::testing::Test::RecordProperty("TEST_ID", "09a2cd6c-fba9-4b9d-af96-c5a6cc168d98");
+
+    // let the roudi discovery loop run at least once
+    InterOpWait();
+
     iox_service_discovery_find_service_apply_callable_with_context_data(
         sut, nullptr, nullptr, nullptr, findHandler, &searchResult, MessagingPattern_PUB_SUB);
     for (const auto& service : searchResult)
@@ -94,6 +103,8 @@ TEST_F(iox_service_discovery_test, FindServiceWithCallableAndContextDataReturnsO
     ASSERT_NE(publisher, nullptr);
     const iox_service_description_t SERVICE_DESCRIPTION = iox_pub_get_service_description(publisher);
 
+    InterOpWait();
+
     iox_service_discovery_find_service_apply_callable_with_context_data(sut,
                                                                         SERVICE_DESCRIPTION.serviceString,
                                                                         SERVICE_DESCRIPTION.instanceString,
@@ -112,6 +123,9 @@ TEST_F(iox_service_discovery_test, FindServiceWithCallableAndContextDataReturnsO
 TEST_F(iox_service_discovery_test, FindServiceWithCallableWithNullptrsForServiceInstanceEventFindsCorrectServices)
 {
     ::testing::Test::RecordProperty("TEST_ID", "ec565ca3-7494-42d7-9440-2000f1513759");
+
+    InterOpWait();
+
     auto findHandler = [](const iox_service_description_t s) { EXPECT_THAT(s.instanceString, StrEq("RouDi_ID")); };
     iox_service_discovery_find_service_apply_callable(
         sut, nullptr, nullptr, nullptr, findHandler, MessagingPattern_PUB_SUB);
@@ -126,6 +140,8 @@ TEST_F(iox_service_discovery_test, FindServiceWithCallableReturnsFindsCorrectSer
     auto* publisher = iox_pub_init(&storage, "service", "instance", "event", &options);
     ASSERT_NE(publisher, nullptr);
 
+    InterOpWait();
+
     auto findHandler = [](const iox_service_description_t s) {
         EXPECT_THAT(s.serviceString, StrEq("service"));
         EXPECT_THAT(s.instanceString, StrEq("instance"));
@@ -140,6 +156,9 @@ TEST_F(iox_service_discovery_test, FindServiceWithCallableReturnsFindsCorrectSer
 TEST_F(iox_service_discovery_test, FindServiceWithNullptrsForServiceInstanceEventReturnsAllServices)
 {
     ::testing::Test::RecordProperty("TEST_ID", "75b411d7-b8c7-42d5-8acd-3916fd172081");
+
+    InterOpWait();
+
     const uint64_t SERVICE_CONTAINER_CAPACITY = 10U;
     iox_service_description_t serviceContainer[SERVICE_CONTAINER_CAPACITY];
     uint64_t missedServices = 0U;
@@ -170,6 +189,8 @@ TEST_F(iox_service_discovery_test, FindServiceReturnsOfferedService)
     ASSERT_NE(publisher, nullptr);
     const iox_service_description_t SERVICE_DESCRIPTION = iox_pub_get_service_description(publisher);
 
+    InterOpWait();
+
     const uint64_t SERVICE_CONTAINER_CAPACITY = 10U;
     iox_service_description_t serviceContainer[SERVICE_CONTAINER_CAPACITY];
     uint64_t missedServices = 0U;
@@ -194,6 +215,9 @@ TEST_F(iox_service_discovery_test, FindServiceReturnsOfferedService)
 TEST_F(iox_service_discovery_test, FindServiceReturnsCorrectNumberOfServicesWhenServiceContainerTooSmall)
 {
     ::testing::Test::RecordProperty("TEST_ID", "01047b88-f257-447c-8c5e-9bef7c358433");
+
+    InterOpWait();
+
     const uint64_t SERVICE_CONTAINER_CAPACITY = 3U;
     iox_service_description_t serviceContainer[SERVICE_CONTAINER_CAPACITY];
     uint64_t missedServices = 0U;

iceoryx_binding_c/test/moduletests/test_subscriber.cpp

@@ -26,6 +26,7 @@
 #include "iceoryx_posh/internal/popo/ports/subscriber_port_single_producer.hpp"
 #include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp"
 #include "iceoryx_posh/mepoo/mepoo_config.hpp"
+#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_environment/roudi_environment.hpp"
 #include "mocks/wait_set_mock.hpp"
 
@@ -147,7 +148,7 @@ TEST_F(iox_sub_test, initSubscriberWithNotInitializedSubscriberOptionsTerminates
 TEST_F(iox_sub_test, initSubscriberWithDefaultOptionsWorks)
 {
     ::testing::Test::RecordProperty("TEST_ID", "40eaa006-4781-46cd-bde3-40fa7d572f29");
-    iox::roudi::RouDiEnvironment roudiEnv;
+    iox::roudi::RouDiEnvironment roudiEnv{MinimalRouDiConfigBuilder().create()};
 
     iox_runtime_init("hypnotoad");
 
@@ -404,7 +405,7 @@ TEST_F(iox_sub_test, hasDataTriggersWaitSetWithCorrectCallback)
 TEST_F(iox_sub_test, deinitSubscriberDetachesTriggerFromWaitSet)
 {
     ::testing::Test::RecordProperty("TEST_ID", "93e350fb-5430-43ff-982b-b43c6ae9b890");
-    iox::roudi::RouDiEnvironment roudiEnv;
+    iox::roudi::RouDiEnvironment roudiEnv{MinimalRouDiConfigBuilder().create()};
     iox_runtime_init("hypnotoad");
 
     iox_sub_storage_t storage;
@@ -557,13 +558,8 @@ TEST(iox_sub_options_test, subscriberOptionsInitializationCheckReturnsFalseWitho
 TEST(iox_sub_options_test, subscriberOptionInitializationWithNullptrDoesNotCrash)
 {
     ::testing::Test::RecordProperty("TEST_ID", "4c8eeb6e-5681-4551-865b-11b6a599edf5");
-    EXPECT_EXIT(
-        {
-            iox_sub_options_init(nullptr);
-            exit(0);
-        },
-        ::testing::ExitedWithCode(0),
-        ".*");
+
+    IOX_EXPECT_NO_FATAL_FAILURE<iox::HoofsError>([&] { iox_sub_options_init(nullptr); });
 }
 
 } // namespace

iceoryx_examples/callbacks_in_c/ice_c_callbacks_publisher.c

@@ -23,13 +23,13 @@
 #include <stdbool.h>
 #include <stdio.h>
 
-bool killswitch = false;
+volatile bool keepRunning = true;
 
-static void sigHandler(int f_sig)
+static void sigHandler(int sig)
 {
     // ignore unused parameter
-    (void)f_sig;
-    killswitch = true;
+    (void)sig;
+    keepRunning = false;
 }
 
 void sending(void)
@@ -47,7 +47,7 @@ void sending(void)
     iox_pub_t publisherRight = iox_pub_init(&publisherRightStorage, "Radar", "FrontRight", "Counter", &options);
 
     struct CounterTopic* userPayload;
-    for (uint32_t counter = 0U; !killswitch; ++counter)
+    for (uint32_t counter = 0U; keepRunning; ++counter)
     {
         if (counter % 3 == 0)
         {

iceoryx_examples/callbacks_in_c/ice_c_callbacks_subscriber.c

@@ -31,7 +31,7 @@
 #include <stdio.h>
 #include <string.h>
 
-bool keepRunning = true;
+volatile bool keepRunning = true;
 
 iox_user_trigger_t heartbeat;
 

iceoryx_examples/callbacks_in_c/ice_c_callbacks_with_context_data.c

@@ -27,7 +27,7 @@
 #include <stdio.h>
 #include <string.h>
 
-bool keepRunning = true;
+volatile bool keepRunning = true;
 
 static void sigHandler(int signalValue)
 {

iceoryx_examples/icedelivery_in_c/README.md

@@ -60,11 +60,11 @@ iox_sub_t subscriber = iox_sub_init(&subscriberStorage, "Radar", "FrontLeft", "O
 ```
 
  3. We receive samples in a loop and print the received data on the console as
-    long as the `killswitch` is not set to `true` by an external signal.
+    long as the `keepRunning` is not set to `false` by an external signal.
 
 <!--[geoffrey][iceoryx_examples/icedelivery_in_c/ice_c_subscriber.c][receive and print data]-->
 ```c
-while (!killswitch)
+while (keepRunning)
 {
     if (SubscribeState_SUBSCRIBED == iox_sub_get_subscription_state(subscriber))
     {
@@ -132,15 +132,15 @@ iox_pub_storage_t publisherStorage;
 iox_pub_t publisher = iox_pub_init(&publisherStorage, "Radar", "FrontLeft", "Object", &options);
 ```
 
- 3. Until an external signal sets `killswitch` to `true`, we will send an
+ 3. Until an external signal sets `keepRunning` to `false`, we will send an
     incrementing number to all subscribers in every iteration and print the
     value of that number to the console.
 
 <!--[geoffrey][iceoryx_examples/icedelivery_in_c/ice_c_publisher.c][send and print number]-->
 ```c
 double ct = 0.0;
 
-while (!killswitch)
+while (keepRunning)
 {
     void* userPayload = NULL;
     if (AllocationResult_SUCCESS == iox_pub_loan_chunk(publisher, &userPayload, sizeof(struct RadarObject)))

iceoryx_examples/icedelivery_in_c/ice_c_publisher.c

@@ -24,14 +24,14 @@
 #include <stdbool.h>
 #include <stdio.h>
 
-bool killswitch = false;
+volatile bool keepRunning = true;
 
 static void sigHandler(int signalValue)
 {
     // Ignore unused variable warning
     (void)signalValue;
     // caught SIGINT or SIGTERM, now exit gracefully
-    killswitch = true;
+    keepRunning = false;
 }
 
 void sending(void)
@@ -53,7 +53,7 @@ void sending(void)
     //! [send and print number]
     double ct = 0.0;
 
-    while (!killswitch)
+    while (keepRunning)
     {
         void* userPayload = NULL;
         if (AllocationResult_SUCCESS == iox_pub_loan_chunk(publisher, &userPayload, sizeof(struct RadarObject)))