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add test for filter data by all cft interfaces with rcl_take
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Signed-off-by: Chen Lihui <[email protected]>
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Chen Lihui authored and Chen Lihui committed Mar 12, 2021
1 parent 8fa564d commit be5a640
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383 changes: 383 additions & 0 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rcutils/strdup.h"
#include "rcutils/testing/fault_injection.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/msg/strings.h"
Expand Down Expand Up @@ -847,6 +848,388 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_return_l
rcl_subscription_fini(&subscription, this->node_ptr)) << rcl_get_error_string().str;
}


/* A subscription with a content filtered topic setting.
*/
TEST_F(
CLASSNAME(
TestSubscriptionFixture,
RMW_IMPLEMENTATION), test_subscription_content_filtered) {
bool is_vendor_support_cft
= (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0);

rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
constexpr char topic[] = "rcl_test_subscription_content_filtered_chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
subscription_options.rmw_subscription_options.filter_expression
= rcutils_strdup("string_value MATCH 'FilteredData'", subscription_options.allocator);
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
if (is_vendor_support_cft) {
ASSERT_TRUE(rcl_subscription_is_cft_supported(&subscription));
} else {
ASSERT_FALSE(rcl_subscription_is_cft_supported(&subscription));
}
ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 100));
constexpr char test_string[] = "NotFilteredData";
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

if (is_vendor_support_cft) {
ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
} else {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string(test_string),
std::string(msg.string_value.data, msg.string_value.size));
}

constexpr char test_filtered_string[] = "FilteredData";
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_filtered_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string(test_filtered_string),
std::string(msg.string_value.data, msg.string_value.size));
}

// set filter
{
rcutils_string_array_t expression_parameters;
expression_parameters = rcutils_get_zero_initialized_string_array();
rcl_allocator_t allocator = rcl_get_default_allocator();
rcutils_ret_t rcutils_ret = rcutils_string_array_init(
&expression_parameters, 1, &allocator);
ASSERT_EQ(RCUTILS_RET_OK, rcutils_ret) << rcl_get_error_string().str;
expression_parameters.data[0] = rcutils_strdup("'FilteredOtherData'", allocator);

ret = rcl_subscription_set_cft_expression_parameters(
&subscription, "string_value MATCH %0", &expression_parameters);
if (is_vendor_support_cft) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} else {
ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
}

rcutils_ret = rcutils_string_array_fini(&expression_parameters);
ASSERT_EQ(RCUTILS_RET_OK, rcutils_ret) << rcl_get_error_string().str;
}

// publish FilteredData again
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_filtered_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

if (is_vendor_support_cft) {
ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
} else {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string(test_filtered_string),
std::string(msg.string_value.data, msg.string_value.size));
}

constexpr char test_filtered_other_string[] = "FilteredOtherData";
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_filtered_other_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string(test_filtered_other_string),
std::string(msg.string_value.data, msg.string_value.size));
}

// get filter
char * filter_expression = nullptr;
rcutils_string_array_t expression_parameters;
expression_parameters = rcutils_get_zero_initialized_string_array();
ret = rcl_subscription_get_cft_expression_parameters(
&subscription, &filter_expression, &expression_parameters);
if (is_vendor_support_cft) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string("string_value MATCH %0"),
std::string(filter_expression));
rcutils_allocator_t allocator = rcutils_get_default_allocator();
allocator.deallocate(filter_expression, allocator.state);
ASSERT_EQ(static_cast<size_t>(1), expression_parameters.size);
ASSERT_EQ(
std::string("'FilteredOtherData'"),
std::string(expression_parameters.data[0]));
ASSERT_EQ(RCUTILS_RET_OK, rcutils_string_array_fini(&expression_parameters));
} else {
ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
}

// reset filter
{
ret = rcl_subscription_set_cft_expression_parameters(
&subscription, "", NULL);
if (is_vendor_support_cft) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_TRUE(wait_for_established_subscription(&publisher, 50, 100));
ASSERT_FALSE(rcl_subscription_is_cft_supported(&subscription));
} else {
ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
}
}

// publish no filtered data again
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// it might take 'FilteredData' again, if so, contine to take data
std::string data = std::string(msg.string_value.data, msg.string_value.size);
if (is_vendor_support_cft) {
const int try_total_num = 3;
int i = 0;
while (data != test_string && i++ < try_total_num) {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
data = std::string(msg.string_value.data, msg.string_value.size);
}
}
ASSERT_EQ(std::string(test_string), data);
}
}

/* A subscription without a content filtered topic setting at beginning.
*/
TEST_F(
CLASSNAME(
TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_not_begin_content_filtered) {
bool is_vendor_support_cft
= (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0);

rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
constexpr char topic[] = "rcl_test_subscription_not_begin_content_filtered_chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
// not to set filter expression
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ASSERT_FALSE(rcl_subscription_is_cft_supported(&subscription));
ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 100));

// publish no filtered data
constexpr char test_string[] = "NotFilteredData";
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string(test_string),
std::string(msg.string_value.data, msg.string_value.size));
}

// set filter
{
ret = rcl_subscription_set_cft_expression_parameters(
&subscription, "string_value MATCH 'FilteredData'", NULL);
if (is_vendor_support_cft) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} else {
ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
}
}

if (is_vendor_support_cft) {
ASSERT_TRUE(rcl_subscription_is_cft_supported(&subscription));
} else {
ASSERT_FALSE(rcl_subscription_is_cft_supported(&subscription));
}
// publish no filtered data again
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

if (is_vendor_support_cft) {
ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
} else {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string(test_string),
std::string(msg.string_value.data, msg.string_value.size));
}

// publish filtered data
constexpr char test_filtered_string[] = "FilteredData";
{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_filtered_string));
ret = rcl_publish(&publisher, &msg, nullptr);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));

{
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(
std::string(test_filtered_string),
std::string(msg.string_value.data, msg.string_value.size));
}
}

TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options) {
rcl_ret_t ret;
const rosidl_message_type_support_t * ts =
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