Skip to content

Fix a bug in graph query function and add regression test #283

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Oct 15, 2022
Merged

Fix a bug in graph query function and add regression test #283

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion rclrs/src/node/graph.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ pub struct NodeNameInfo {
}

/// Contains topic endpoint information
#[derive(Debug, PartialEq, Eq)]
pub struct TopicEndpointInfo {
/// The name of the endpoint node
pub node_name: String,
Expand Down Expand Up @@ -374,7 +375,7 @@ impl Node {
&*self.rcl_node_mtx.lock().unwrap(),
&mut rcutils_get_default_allocator(),
topic.as_ptr(),
true,
false,
&mut rcl_publishers_info,
)
.ok()?;
Expand Down
146 changes: 77 additions & 69 deletions rclrs_tests/src/graph_tests.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
use rclrs::{
Context, Node, NodeBuilder, RclrsError, TopicNamesAndTypes, QOS_PROFILE_SYSTEM_DEFAULT,
Context, Node, NodeBuilder, RclrsError, TopicEndpointInfo, TopicNamesAndTypes,
QOS_PROFILE_SYSTEM_DEFAULT,
};
use test_msgs::{msg, srv};

Expand All @@ -22,122 +23,127 @@ fn construct_test_graph(namespace: &str) -> Result<TestGraph, RclrsError> {

#[test]
fn test_publishers() -> Result<(), RclrsError> {
let graph = construct_test_graph("test_publishers_graph")?;
let namespace = "/test_publishers_graph";
let graph = construct_test_graph(namespace)?;

let _node_1_empty_publisher = graph
let node_1_empty_publisher = graph
.node1
.create_publisher::<msg::Empty>("graph_test_topic_1", QOS_PROFILE_SYSTEM_DEFAULT)?;
let _node_1_basic_types_publisher = graph
let topic1 = node_1_empty_publisher.topic_name();
let node_1_basic_types_publisher = graph
.node1
.create_publisher::<msg::BasicTypes>("graph_test_topic_2", QOS_PROFILE_SYSTEM_DEFAULT)?;
let _node_2_default_publisher = graph
let topic2 = node_1_basic_types_publisher.topic_name();
let node_2_default_publisher = graph
.node2
.create_publisher::<msg::Defaults>("graph_test_topic_3", QOS_PROFILE_SYSTEM_DEFAULT)?;
let topic3 = node_2_default_publisher.topic_name();

std::thread::sleep(std::time::Duration::from_millis(100));

assert_eq!(
graph
.node1
.count_publishers(&(graph.node1.namespace() + "/graph_test_topic_1"))?,
1
);
assert_eq!(
graph
.node1
.count_publishers(&(graph.node1.namespace() + "/graph_test_topic_2"))?,
1
);
// Test count_publishers()
assert_eq!(graph.node1.count_publishers(&topic1)?, 1);
assert_eq!(graph.node1.count_publishers(&topic2)?, 1);
assert_eq!(graph.node1.count_publishers(&topic3)?, 1);

// Test get_publisher_names_and_types_by_node()
let node_1_publisher_names_and_types = graph
.node1
.get_publisher_names_and_types_by_node(&graph.node1.name(), &graph.node1.namespace())?;
.get_publisher_names_and_types_by_node(&graph.node1.name(), namespace)?;

let types = node_1_publisher_names_and_types
.get(&(graph.node1.namespace() + "/graph_test_topic_1"))
.unwrap();
let types = node_1_publisher_names_and_types.get(&topic1).unwrap();
assert!(types.contains(&"test_msgs/msg/Empty".to_string()));

let types = node_1_publisher_names_and_types
.get(&(graph.node1.namespace() + "/graph_test_topic_2"))
.unwrap();
let types = node_1_publisher_names_and_types.get(&topic2).unwrap();
assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));

let node_2_publisher_names_and_types = graph
.node2
.get_publisher_names_and_types_by_node(&graph.node2.name(), &graph.node2.namespace())?;
.node1
.get_publisher_names_and_types_by_node(&graph.node2.name(), namespace)?;

let types = node_2_publisher_names_and_types
.get(&(graph.node2.namespace() + "/graph_test_topic_3"))
.unwrap();
let types = node_2_publisher_names_and_types.get(&topic3).unwrap();
assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));

// Test get_publishers_info_by_topic()
let expected_publishers_info = vec![TopicEndpointInfo {
node_name: String::from("graph_test_node_1"),
node_namespace: String::from(namespace),
topic_type: String::from("test_msgs/msg/Empty"),
}];
assert_eq!(
graph
.node2
.count_publishers(&(graph.node2.namespace() + "/graph_test_topic_3"))?,
1
graph.node1.get_publishers_info_by_topic(&topic1)?,
expected_publishers_info
);
assert_eq!(
graph.node2.get_publishers_info_by_topic(&topic1)?,
expected_publishers_info
);
assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));

Ok(())
}

#[test]
fn test_subscriptions() -> Result<(), RclrsError> {
let mut graph = construct_test_graph("test_subscriptions_graph")?;
let namespace = "/test_subscriptions_graph";
let mut graph = construct_test_graph(namespace)?;

let _node_1_defaults_subscription = graph.node1.create_subscription::<msg::Defaults, _>(
"graph_test_topic_3",
QOS_PROFILE_SYSTEM_DEFAULT,
|_msg: msg::Defaults| {},
)?;
let _node_2_empty_subscription = graph.node2.create_subscription::<msg::Empty, _>(
let node_2_empty_subscription = graph.node2.create_subscription::<msg::Empty, _>(
"graph_test_topic_1",
QOS_PROFILE_SYSTEM_DEFAULT,
|_msg: msg::Empty| {},
)?;
let _node_2_basic_types_subscription = graph.node2.create_subscription::<msg::BasicTypes, _>(
let topic1 = node_2_empty_subscription.topic_name();
let node_2_basic_types_subscription = graph.node2.create_subscription::<msg::BasicTypes, _>(
"graph_test_topic_2",
QOS_PROFILE_SYSTEM_DEFAULT,
|_msg: msg::BasicTypes| {},
)?;
let topic2 = node_2_basic_types_subscription.topic_name();
let node_1_defaults_subscription = graph.node1.create_subscription::<msg::Defaults, _>(
"graph_test_topic_3",
QOS_PROFILE_SYSTEM_DEFAULT,
|_msg: msg::Defaults| {},
)?;
let topic3 = node_1_defaults_subscription.topic_name();

std::thread::sleep(std::time::Duration::from_millis(100));

// Test count_subscriptions()
assert_eq!(graph.node2.count_subscriptions(&topic1)?, 1);
assert_eq!(graph.node2.count_subscriptions(&topic2)?, 1);

// Test get_subscription_names_and_types_by_node()
let node_1_subscription_names_and_types = graph
.node1
.get_subscription_names_and_types_by_node(&graph.node1.name(), &graph.node1.namespace())?;
.get_subscription_names_and_types_by_node(&graph.node1.name(), namespace)?;

let types = node_1_subscription_names_and_types
.get(&(graph.node2.namespace() + "/graph_test_topic_3"))
.unwrap();
let types = node_1_subscription_names_and_types.get(&topic3).unwrap();
assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));

assert_eq!(
graph
.node2
.count_subscriptions(&(graph.node2.namespace() + "/graph_test_topic_1"))?,
1
);
assert_eq!(
graph
.node2
.count_subscriptions(&(graph.node2.namespace() + "/graph_test_topic_2"))?,
1
);

let node_2_subscription_names_and_types = graph
.node2
.get_subscription_names_and_types_by_node(&graph.node2.name(), &graph.node2.namespace())?;
.get_subscription_names_and_types_by_node(&graph.node2.name(), namespace)?;

let types = node_2_subscription_names_and_types
.get(&(graph.node1.namespace() + "/graph_test_topic_1"))
.unwrap();
let types = node_2_subscription_names_and_types.get(&topic1).unwrap();
assert!(types.contains(&"test_msgs/msg/Empty".to_string()));

let types = node_2_subscription_names_and_types
.get(&(graph.node2.namespace() + "/graph_test_topic_2"))
.unwrap();
let types = node_2_subscription_names_and_types.get(&topic2).unwrap();
assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));

// Test get_subscriptions_info_by_topic()
let expected_subscriptions_info = vec![TopicEndpointInfo {
node_name: String::from("graph_test_node_2"),
node_namespace: String::from(namespace),
topic_type: String::from("test_msgs/msg/Empty"),
}];
assert_eq!(
graph.node1.get_subscriptions_info_by_topic(&topic1)?,
expected_subscriptions_info
);
assert_eq!(
graph.node2.get_subscriptions_info_by_topic(&topic1)?,
expected_subscriptions_info
);
Ok(())
}

Expand Down Expand Up @@ -184,7 +190,8 @@ fn test_topic_names_and_types() -> Result<(), RclrsError> {

#[test]
fn test_services() -> Result<(), RclrsError> {
let mut graph = construct_test_graph("test_services_graph")?;
let namespace = "/test_services_graph";
let mut graph = construct_test_graph(namespace)?;
let check_names_and_types = |names_and_types: TopicNamesAndTypes| {
let types = names_and_types
.get("/test_services_graph/graph_test_topic_4")
Expand All @@ -209,15 +216,16 @@ fn test_services() -> Result<(), RclrsError> {

let service_names_and_types = graph
.node1
.get_service_names_and_types_by_node(&graph.node1.name(), &graph.node1.namespace())?;
.get_service_names_and_types_by_node(&graph.node1.name(), namespace)?;
check_names_and_types(service_names_and_types);

Ok(())
}

#[test]
fn test_clients() -> Result<(), RclrsError> {
let mut graph = construct_test_graph("test_clients_graph")?;
let namespace = "/test_clients_graph";
let mut graph = construct_test_graph(namespace)?;
let _node_2_empty_client = graph
.node2
.create_client::<srv::Empty>("graph_test_topic_4")?;
Expand Down