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Remove fastrtps customization on tests #895

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merged 2 commits into from
Feb 22, 2022
Merged

Remove fastrtps customization on tests #895

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89b9cb9
Remove fastrtps customization on tests
MiguelCompany Feb 15, 2022
85ac2d8
Removed unused imports.
MiguelCompany Feb 16, 2022
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141 changes: 56 additions & 85 deletions rclpy/test/test_qos_event.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,15 +31,12 @@
from rclpy.qos_event import QoSRequestedIncompatibleQoSInfo
from rclpy.qos_event import QoSSubscriptionEventType
from rclpy.qos_event import SubscriptionEventCallbacks
from rclpy.qos_event import UnsupportedEventTypeError
from rclpy.task import Future
from rclpy.utilities import get_rmw_implementation_identifier

from test_msgs.msg import Empty as EmptyMsg


class TestQoSEvent(unittest.TestCase):
is_fastrtps = False
topic_name = 'test_topic'

def setUp(self):
Expand All @@ -48,7 +45,6 @@ def setUp(self):
self.node = rclpy.create_node('TestQoSEvent',
namespace='/rclpy/test',
context=self.context)
self.is_fastrtps = 'rmw_fastrtps' in get_rmw_implementation_identifier()

def tearDown(self):
# These tests create a bunch of events by hand instead of using Node APIs,
Expand All @@ -64,7 +60,7 @@ def test_publisher_constructor(self):
liveliness_callback = Mock()
deadline_callback = Mock()
incompatible_qos_callback = Mock()
expected_num_event_handlers = 0 if self.is_fastrtps else 1
expected_num_event_handlers = 1

# No arg
publisher = self.node.create_publisher(EmptyMsg, self.topic_name, 10)
Expand Down Expand Up @@ -95,21 +91,18 @@ def test_publisher_constructor(self):

# Arg with three callbacks
callbacks.incompatible_qos = incompatible_qos_callback
try:
publisher = self.node.create_publisher(
EmptyMsg, self.topic_name, 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 3)
self.node.destroy_publisher(publisher)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)
publisher = self.node.create_publisher(
EmptyMsg, self.topic_name, 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 3)
self.node.destroy_publisher(publisher)

def test_subscription_constructor(self):
callbacks = SubscriptionEventCallbacks()
liveliness_callback = Mock()
deadline_callback = Mock()
message_callback = Mock()
incompatible_qos_callback = Mock()
expected_num_event_handlers = 0 if self.is_fastrtps else 1
expected_num_event_handlers = 1

# No arg
subscription = self.node.create_subscription(
Expand Down Expand Up @@ -141,13 +134,10 @@ def test_subscription_constructor(self):

# Arg with three callbacks
callbacks.incompatible_qos = incompatible_qos_callback
try:
subscription = self.node.create_subscription(
EmptyMsg, self.topic_name, message_callback, 10, event_callbacks=callbacks)
self.assertEqual(len(subscription.event_handlers), 3)
self.node.destroy_subscription(subscription)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)
subscription = self.node.create_subscription(
EmptyMsg, self.topic_name, message_callback, 10, event_callbacks=callbacks)
self.assertEqual(len(subscription.event_handlers), 3)
self.node.destroy_subscription(subscription)

def test_default_incompatible_qos_callbacks(self):
original_logger = rclpy.logging._root_logger
Expand Down Expand Up @@ -187,17 +177,16 @@ def warn(self, message, once=False):
executor = rclpy.executors.SingleThreadedExecutor(context=self.context)
rclpy.spin_until_future_complete(self.node, log_msgs_future, executor, 10.0)

if not self.is_fastrtps:
self.assertEqual(
pub_log_msg,
"New subscription discovered on topic '{}', requesting incompatible QoS. "
'No messages will be sent to it. '
'Last incompatible policy: DURABILITY'.format(self.topic_name))
self.assertEqual(
sub_log_msg,
"New publisher discovered on topic '{}', offering incompatible QoS. "
'No messages will be received from it. '
'Last incompatible policy: DURABILITY'.format(self.topic_name))
self.assertEqual(
pub_log_msg,
"New subscription discovered on topic '{}', requesting incompatible QoS. "
'No messages will be sent to it. '
'Last incompatible policy: DURABILITY'.format(self.topic_name))
self.assertEqual(
sub_log_msg,
"New publisher discovered on topic '{}', offering incompatible QoS. "
'No messages will be received from it. '
'Last incompatible policy: DURABILITY'.format(self.topic_name))

rclpy.logging._root_logger = original_logger

Expand All @@ -217,11 +206,8 @@ def test_publisher_event_create_destroy(self):
publisher, QoSPublisherEventType.RCL_PUBLISHER_OFFERED_DEADLINE_MISSED)
self._do_create_destroy(
publisher, QoSPublisherEventType.RCL_PUBLISHER_LIVELINESS_LOST)
try:
self._do_create_destroy(
publisher, QoSPublisherEventType.RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)
self._do_create_destroy(
publisher, QoSPublisherEventType.RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS)
self.node.destroy_publisher(publisher)

def test_subscription_event_create_destroy(self):
Expand All @@ -232,11 +218,8 @@ def test_subscription_event_create_destroy(self):
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED)
self._do_create_destroy(
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED)
try:
self._do_create_destroy(
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)
self._do_create_destroy(
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS)
self.node.destroy_subscription(subscription)

def test_call_publisher_rclpy_event_apis(self):
Expand All @@ -259,24 +242,19 @@ def test_call_publisher_rclpy_event_apis(self):
liveliness_event_handle)
self.assertIsNotNone(liveliness_event_index)

try:
incompatible_qos_event_handle = self._create_event_handle(
publisher, QoSPublisherEventType.RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS)
with incompatible_qos_event_handle:
incompatible_qos_event_index = wait_set.add_event(
incompatible_qos_event_handle)
self.assertIsNotNone(incompatible_qos_event_index)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)
incompatible_qos_event_handle = self._create_event_handle(
publisher, QoSPublisherEventType.RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS)
with incompatible_qos_event_handle:
incompatible_qos_event_index = wait_set.add_event(
incompatible_qos_event_handle)
self.assertIsNotNone(incompatible_qos_event_index)

# We live in our own namespace and have created no other participants, so
# there can't be any of these events.
wait_set.wait(0)
self.assertFalse(wait_set.is_ready('event', deadline_event_index))
self.assertFalse(wait_set.is_ready('event', liveliness_event_index))
if not self.is_fastrtps:
self.assertFalse(wait_set.is_ready(
'event', incompatible_qos_event_index))
self.assertFalse(wait_set.is_ready('event', incompatible_qos_event_index))

# Calling take data even though not ready should provide me an empty initialized message
# Tests data conversion utilities in C side
Expand All @@ -298,16 +276,15 @@ def test_call_publisher_rclpy_event_apis(self):
except NotImplementedError:
pass

if not self.is_fastrtps:
try:
with incompatible_qos_event_handle:
event_data = incompatible_qos_event_handle.take_event()
self.assertIsInstance(event_data, QoSOfferedIncompatibleQoSInfo)
self.assertEqual(event_data.total_count, 0)
self.assertEqual(event_data.total_count_change, 0)
self.assertEqual(event_data.last_policy_kind, QoSPolicyKind.INVALID)
except NotImplementedError:
pass
try:
with incompatible_qos_event_handle:
event_data = incompatible_qos_event_handle.take_event()
self.assertIsInstance(event_data, QoSOfferedIncompatibleQoSInfo)
self.assertEqual(event_data.total_count, 0)
self.assertEqual(event_data.total_count_change, 0)
self.assertEqual(event_data.last_policy_kind, QoSPolicyKind.INVALID)
except NotImplementedError:
pass

self.node.destroy_publisher(publisher)

Expand All @@ -330,24 +307,19 @@ def test_call_subscription_rclpy_event_apis(self):
liveliness_event_index = wait_set.add_event(liveliness_event_handle)
self.assertIsNotNone(liveliness_event_index)

try:
incompatible_qos_event_handle = self._create_event_handle(
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS)
with incompatible_qos_event_handle:
incompatible_qos_event_index = wait_set.add_event(
incompatible_qos_event_handle)
self.assertIsNotNone(incompatible_qos_event_index)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)
incompatible_qos_event_handle = self._create_event_handle(
subscription, QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS)
with incompatible_qos_event_handle:
incompatible_qos_event_index = wait_set.add_event(
incompatible_qos_event_handle)
self.assertIsNotNone(incompatible_qos_event_index)

# We live in our own namespace and have created no other participants, so
# there can't be any of these events.
wait_set.wait(0)
self.assertFalse(wait_set.is_ready('event', deadline_event_index))
self.assertFalse(wait_set.is_ready('event', liveliness_event_index))
if not self.is_fastrtps:
self.assertFalse(wait_set.is_ready(
'event', incompatible_qos_event_index))
self.assertFalse(wait_set.is_ready('event', incompatible_qos_event_index))

# Calling take data even though not ready should provide me an empty initialized message
# Tests data conversion utilities in C side
Expand All @@ -371,15 +343,14 @@ def test_call_subscription_rclpy_event_apis(self):
except NotImplementedError:
pass

if not self.is_fastrtps:
try:
with incompatible_qos_event_handle:
event_data = incompatible_qos_event_handle.take_event()
self.assertIsInstance(event_data, QoSRequestedIncompatibleQoSInfo)
self.assertEqual(event_data.total_count, 0)
self.assertEqual(event_data.total_count_change, 0)
self.assertEqual(event_data.last_policy_kind, QoSPolicyKind.INVALID)
except NotImplementedError:
pass
try:
with incompatible_qos_event_handle:
event_data = incompatible_qos_event_handle.take_event()
self.assertIsInstance(event_data, QoSRequestedIncompatibleQoSInfo)
self.assertEqual(event_data.total_count, 0)
self.assertEqual(event_data.total_count_change, 0)
self.assertEqual(event_data.last_policy_kind, QoSPolicyKind.INVALID)
except NotImplementedError:
pass

self.node.destroy_subscription(subscription)