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Run tests against all RMW implementations.
Signed-off-by: Chris Lalancette <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| # Copyright 2016 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import argparse | ||
| import importlib | ||
| import os | ||
| import sys | ||
| import time | ||
|
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| # this is needed to allow import of test_communication messages | ||
| sys.path.insert(0, os.getcwd()) | ||
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| def talker(number_of_cycles): | ||
| from message_fixtures import get_msg_primitives | ||
| import rclpy | ||
| from rclpy.qos import QoSDurabilityPolicy | ||
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| message_pkg = 'test_communication' | ||
| module = importlib.import_module(message_pkg + '.msg') | ||
| msg_mod = getattr(module, 'Primitives') | ||
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| rclpy.init(args=[]) | ||
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| node = rclpy.create_node('talker') | ||
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| custom_qos_profile = rclpy.qos.qos_profile_default | ||
| custom_qos_profile.durability = QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL | ||
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| chatter_pub = node.create_publisher( | ||
| msg_mod, 'test_durability_message_primitives', qos_profile=custom_qos_profile) | ||
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| cycle_count = 0 | ||
| print('talker: beginning loop') | ||
| msgs = get_msg_primitives() | ||
| while rclpy.ok() and cycle_count < number_of_cycles: | ||
| msg_count = 0 | ||
| for msg in msgs: | ||
| chatter_pub.publish(msg) | ||
| msg_count += 1 | ||
| print('publishing message #%d' % msg_count) | ||
| time.sleep(0.01) | ||
| cycle_count += 1 | ||
| time.sleep(0.1) | ||
| node.destroy_node() | ||
| rclpy.shutdown() | ||
|
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|
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| if __name__ == '__main__': | ||
| parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) | ||
| parser.add_argument('-n', '--number_of_cycles', type=int, default=100, | ||
| help='number of sending attempts') | ||
| args = parser.parse_args() | ||
| try: | ||
| talker( | ||
| number_of_cycles=args.number_of_cycles) | ||
| except KeyboardInterrupt: | ||
| print('talker stopped cleanly') | ||
| except BaseException: | ||
| print('exception in talker:', file=sys.stderr) | ||
| raise |
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| @@ -0,0 +1,90 @@ | ||
| # Copyright 2016 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import functools | ||
| import importlib | ||
| import os | ||
| import sys | ||
|
|
||
| # this is needed to allow import of test_communication messages | ||
| sys.path.insert(0, os.getcwd()) | ||
|
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|
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| def listener_cb(msg, received_messages, expected_msgs): | ||
| known_msg = False | ||
| for exp in expected_msgs: | ||
| if msg.__repr__() == exp.__repr__(): | ||
| print('received message #{} of {}'.format( | ||
| expected_msgs.index(exp) + 1, len(expected_msgs))) | ||
| known_msg = True | ||
| already_received = False | ||
| for rmsg in received_messages: | ||
| if rmsg.__repr__() == msg.__repr__(): | ||
| already_received = True | ||
| break | ||
|
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| if not already_received: | ||
| received_messages.append(msg) | ||
| break | ||
| if known_msg is False: | ||
| raise RuntimeError('received unexpected message %r' % msg) | ||
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| def listener(): | ||
| from message_fixtures import get_msg_primitives | ||
| import rclpy | ||
| from rclpy.qos import QoSDurabilityPolicy | ||
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| message_pkg = 'test_communication' | ||
| module = importlib.import_module(message_pkg + '.msg') | ||
| msg_mod = getattr(module, 'Primitives') | ||
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| rclpy.init(args=[]) | ||
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| node = rclpy.create_node('listener') | ||
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| received_messages = [] | ||
| expected_msgs = get_msg_primitives() | ||
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| chatter_callback = functools.partial( | ||
| listener_cb, received_messages=received_messages, expected_msgs=expected_msgs) | ||
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| custom_qos_profile = rclpy.qos.qos_profile_default | ||
| custom_qos_profile.durability = QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL | ||
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| node.create_subscription( | ||
| msg_mod, 'test_durability_message_primitives', chatter_callback, | ||
| qos_profile=custom_qos_profile) | ||
|
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| spin_count = 1 | ||
| print('subscriber: beginning loop') | ||
| while (rclpy.ok() and len(received_messages) != len(expected_msgs)): | ||
| rclpy.spin_once(node) | ||
| spin_count += 1 | ||
| print('spin_count: ' + str(spin_count)) | ||
| node.destroy_node() | ||
| rclpy.shutdown() | ||
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| assert len(received_messages) == len(expected_msgs),\ | ||
| 'Should have received {} {} messages from talker'.format(len(expected_msgs), 'Primitive') | ||
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| if __name__ == '__main__': | ||
| try: | ||
| listener() | ||
| except KeyboardInterrupt: | ||
| print('subscriber stopped cleanly') | ||
| except BaseException: | ||
| print('exception in subscriber:', file=sys.stderr) | ||
| raise |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| import os | ||
| import sys | ||
|
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| from launch import LaunchDescriptor | ||
| from launch.exit_handler import primary_exit_handler | ||
| from launch.launcher import DefaultLauncher | ||
|
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| def test_qos(): | ||
| ld = LaunchDescriptor() | ||
| publisher_cmd = ['@TEST_DURABILITY_PUBLISHER_EXECUTABLE@'] | ||
| subscriber_cmd = ['@TEST_DURABILITY_SUBSCRIBER_EXECUTABLE@'] | ||
|
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| if '@TEST_PUBLISHER_RCL@' == 'rclpy': | ||
| publisher_cmd.insert(0, sys.executable) | ||
| if '@TEST_SUBSCRIBER_RCL@' == 'rclpy': | ||
| subscriber_cmd.insert(0, sys.executable) | ||
|
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| publisher_env = dict(os.environ) | ||
| publisher_env['RMW_IMPLEMENTATION'] = '@PUBLISHER_RMW@' | ||
| ld.add_process( | ||
| cmd=publisher_cmd, | ||
| name='test_durability_publisher', | ||
| env=publisher_env, | ||
| ) | ||
|
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| subscriber_env = dict(os.environ) | ||
| subscriber_env['RMW_IMPLEMENTATION'] = '@SUBSCRIBER_RMW@' | ||
| ld.add_process( | ||
| cmd=subscriber_cmd, | ||
| name='test_durability_subscriber', | ||
| exit_handler=primary_exit_handler, | ||
| env=subscriber_env, | ||
| ) | ||
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| launcher = DefaultLauncher() | ||
| launcher.add_launch_descriptor(ld) | ||
| rc = launcher.launch() | ||
|
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| assert rc == 0, 'The requester did not receive any replies' | ||
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| if __name__ == '__main__': | ||
| test_qos() |
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