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Add unit tests to cover message's send and received timestamps during recording #1641

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merged 4 commits into from
May 9, 2024
Merged

Add unit tests to cover message's send and received timestamps during recording #1641

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e5f83b9
Workaround for zeros in a message's received timestamp with CycloneDDS
MichaelOrlov May 7, 2024
b02c633
Fix typo in rmw_has_received_timestamp_support
MichaelOrlov May 7, 2024
363f43f
Add one more check in tests that "recv_timestamp >= send_timestamp"
MichaelOrlov May 8, 2024
f7af992
Revert workaround for `rmw_cyclonedds` in recorder.cpp
MichaelOrlov May 8, 2024
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25 changes: 24 additions & 1 deletion rosbag2_transport/test/rosbag2_transport/test_record.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,8 +70,10 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
return mock_writer.get_messages().size() >= expected_messages;
});
auto recorded_messages = mock_writer.get_messages();
EXPECT_TRUE(ret) << "failed to capture expected messages in time";
EXPECT_TRUE(ret) << "failed to capture expected messages in time" <<
"recorded messages = " << recorded_messages.size();
EXPECT_THAT(recorded_messages, SizeIs(expected_messages));
stop_spinning();

auto recorded_topics = mock_writer.get_topics();
ASSERT_THAT(recorded_topics, SizeIs(2));
Expand All @@ -87,6 +89,27 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
EXPECT_THAT(string_messages[0]->string_value, Eq(string_message->string_value));
EXPECT_THAT(array_messages[0]->bool_values, Eq(array_message->bool_values));
EXPECT_THAT(array_messages[0]->float32_values, Eq(array_message->float32_values));

// Check for send and received timestamps
bool rmw_has_send_timestamp_support = true;
#ifdef _WIN32
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") !=
std::string::npos)
{
rmw_has_send_timestamp_support = false;
}
#endif
for (const auto & message : recorded_messages) {
EXPECT_NE(message->recv_timestamp, 0) << "topic : " << message->topic_name;
if (rmw_has_send_timestamp_support) {
// Check that the send_timestamp is not the same as the clock message
EXPECT_NE(message->send_timestamp, 0);
EXPECT_THAT(message->recv_timestamp, Ge(message->send_timestamp));
} else {
// if rwm has not sent timestamp support, send_timestamp must be zero
EXPECT_EQ(message->send_timestamp, 0);
}
}
}

TEST_F(RecordIntegrationTestFixture, can_record_again_after_stop)
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6 changes: 3 additions & 3 deletions rosbag2_transport/test/rosbag2_transport/test_record_all_use_sim_time.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,17 +137,17 @@ TEST_F(RecordIntegrationTestFixture, record_all_with_sim_time)
// check that the timestamp is same as the clock message
EXPECT_THAT(string_messages[0]->recv_timestamp, time_value);

bool rwm_has_timestamp_support = true;
bool rmw_has_timestamp_support = true;

#ifdef _WIN32
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") !=
std::string::npos)
{
rwm_has_timestamp_support = false;
rmw_has_timestamp_support = false;
}
#endif

if (rwm_has_timestamp_support) {
if (rmw_has_timestamp_support) {
// Check that the send_timestamp is not the same as the clock message
EXPECT_NE(string_messages[0]->send_timestamp, time_value);
EXPECT_NE(string_messages[0]->send_timestamp, 0);
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