Skip to content

Add executor unit tests #1336

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
clalancette merged 3 commits into from
Sep 28, 2020
Merged

Add executor unit tests #1336

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
ecd9d93
Improve the error messages in the Executor class.
clalancette Sep 25, 2020
ad7cb8f
Allow mimick patching of methods with up to 9 arguments.
clalancette Sep 25, 2020
027a0f1
Add in unit tests for the Executor class.
clalancette Sep 25, 2020
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
32 changes: 18 additions & 14 deletions rclcpp/src/rclcpp/executor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
"failed to destroy guard condition: %s", rcl_get_error_string().str);
rcl_reset_error();
}
throw std::runtime_error("Failed to create wait set in Executor constructor");
throw_from_rcl_error(ret, "Failed to create wait set in Executor constructor");
}
}

Expand Down Expand Up @@ -219,8 +219,9 @@ Executor::add_callback_group_to_map(
weak_nodes_to_guard_conditions_[node_weak_ptr] = node_ptr->get_notify_guard_condition();
if (notify) {
// Interrupt waiting to handle new node
if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
throw std::runtime_error(rcl_get_error_string().str);
rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
if (ret != RCL_RET_OK) {
throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group add");
}
}
// Add the node's notify condition to the guard condition handles
Expand Down Expand Up @@ -293,8 +294,9 @@ Executor::remove_callback_group_from_map(
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
weak_nodes_to_guard_conditions_.erase(node_weak_ptr);
if (notify) {
if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
throw std::runtime_error(rcl_get_error_string().str);
rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
if (ret != RCL_RET_OK) {
throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group remove");
}
}
std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
Expand Down Expand Up @@ -470,8 +472,9 @@ void
Executor::cancel()
{
spinning.store(false);
if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
throw std::runtime_error(rcl_get_error_string().str);
rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
if (ret != RCL_RET_OK) {
throw_from_rcl_error(ret, "Failed to trigger guard condition in cancel");
}
}

Expand Down Expand Up @@ -509,8 +512,9 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
any_exec.callback_group->can_be_taken_from().store(true);
// Wake the wait, because it may need to be recalculated or work that
// was previously blocked is now available.
if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
throw std::runtime_error(rcl_get_error_string().str);
rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
if (ret != RCL_RET_OK) {
throw_from_rcl_error(ret, "Failed to trigger guard condition from execute_any_executable");
}
}

Expand Down Expand Up @@ -696,19 +700,19 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
}

// clear wait set
if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear wait set");
rcl_ret_t ret = rcl_wait_set_clear(&wait_set_);
if (ret != RCL_RET_OK) {
throw_from_rcl_error(ret, "Couldn't clear wait set");
}

// The size of waitables are accounted for in size of the other entities
rcl_ret_t ret = rcl_wait_set_resize(
ret = rcl_wait_set_resize(
&wait_set_, memory_strategy_->number_of_ready_subscriptions(),
memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
memory_strategy_->number_of_ready_events());
if (RCL_RET_OK != ret) {
throw std::runtime_error(
std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
throw_from_rcl_error(ret, "Couldn't resize the wait set");
}

if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
Expand Down
8 changes: 8 additions & 0 deletions rclcpp/test/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -636,6 +636,14 @@ if(TARGET test_rosout_qos)
target_link_libraries(test_rosout_qos ${PROJECT_NAME})
endif()

ament_add_gtest(test_executor rclcpp/test_executor.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}"
)
if(TARGET test_executor)
ament_target_dependencies(test_executor "rcl")
target_link_libraries(test_executor ${PROJECT_NAME} mimick)
endif()

# Install test resources
install(
DIRECTORY resources
Expand Down
58 changes: 57 additions & 1 deletion rclcpp/test/mocking_utils/patch.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -253,7 +253,7 @@ struct PatchTraits<ID, void(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5)>
mock_type, void, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5);
};

/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5)
/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6)
/// free functions.
/**
* \tparam ID Numerical identifier of the patch. Ought to be unique.
Expand All @@ -270,6 +270,62 @@ struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6)>
mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6);
};

/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7)
/// free functions.
/**
* \tparam ID Numerical identifier of the patch. Ought to be unique.
* \tparam ReturnT Return value type.
* \tparam ArgTx Argument types.
*/
template<size_t ID, typename ReturnT,
typename ArgT0, typename ArgT1,
typename ArgT2, typename ArgT3,
typename ArgT4, typename ArgT5,
typename ArgT6, typename ArgT7>
struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7)>
Copy link
Copy Markdown
Contributor

@Blast545 Blast545 Sep 25, 2020

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

FYI: I added those in #1330, one of us will have to rebase it

Copy link
Copy Markdown
Contributor Author

@clalancette clalancette Sep 28, 2020

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Good to know, thanks for the heads up.

{
mmk_mock_define(
mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7);
};

/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8)
/// free functions.
/**
* \tparam ID Numerical identifier of the patch. Ought to be unique.
* \tparam ReturnT Return value type.
* \tparam ArgTx Argument types.
*/
template<size_t ID, typename ReturnT,
typename ArgT0, typename ArgT1,
typename ArgT2, typename ArgT3,
typename ArgT4, typename ArgT5,
typename ArgT6, typename ArgT7, typename ArgT8>
struct PatchTraits<ID, ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8)>
{
mmk_mock_define(
mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8);
};

/// Traits specialization for ReturnT(ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7,
/// ArgT8, ArgT9) free functions.
/**
* \tparam ID Numerical identifier of the patch. Ought to be unique.
* \tparam ReturnT Return value type.
* \tparam ArgTx Argument types.
*/
template<size_t ID, typename ReturnT,
typename ArgT0, typename ArgT1,
typename ArgT2, typename ArgT3,
typename ArgT4, typename ArgT5,
typename ArgT6, typename ArgT7,
typename ArgT8, typename ArgT9>
struct PatchTraits<ID, ReturnT(
ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8, ArgT9)>
{
mmk_mock_define(
mock_type, ReturnT, ArgT0, ArgT1, ArgT2, ArgT3, ArgT4, ArgT5, ArgT6, ArgT7, ArgT8, ArgT9);
};

/// Generic trampoline to wrap generalized callables in plain functions.
/**
* \tparam ID Numerical identifier of this trampoline. Ought to be unique.
Expand Down
Loading