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Fix test CI
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Signed-off-by: Irene Bandera <irenebandera@eprosima.com>
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@irenebm
irenebm committed Nov 17, 2023
1 parent 263f9d3 commit 5c0cccd
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Showing 2 changed files with 73 additions and 71 deletions.
141 changes: 71 additions & 70 deletions ddsrecorder/test/blackbox/mcap/McapFileCreationTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,28 +67,28 @@ namespace test {

const unsigned int DOMAIN = 222;

std::string dds_topic_name = "TypeIntrospectionTopic";
std::string dds_type_name = "HelloWorld";
const std::string dds_topic_name = "TypeIntrospectionTopic";
const std::string dds_type_name = "HelloWorld";

std::string ros2_topic_name = "rt/hello";
std::string ros2_type_name = "std_msgs::msg::dds_::String_";
const std::string ros2_topic_name = "rt/hello";
const std::string ros2_type_name = "std_msgs::msg::dds_::String_";

unsigned int n_msgs = 3;
std::string send_message = "Hello World";
unsigned int index = 6;
unsigned int downsampling = 3;
const unsigned int n_msgs = 3;
const std::string send_message = "Hello World";
const unsigned int index = 6;
const unsigned int downsampling = 3;

eprosima::fastdds::dds::DataWriter* writer_;
eprosima::fastrtps::types::DynamicType_ptr dynamic_type_;

} // test

std::unique_ptr<DdsRecorder> create_recorder(
std::string file_name,
int downsampling,
const std::string file_name,
const int downsampling,
DdsRecorderState recorder_state = DdsRecorderState::RUNNING,
unsigned int event_window = 20,
bool ros2_types = false)
const unsigned int event_window = 20,
const bool ros2_types = false)
{
YAML::Node yml;

Expand All @@ -111,10 +111,12 @@ std::unique_ptr<DdsRecorder> create_recorder(
}

void create_publisher(
std::string topic_name,
std::string type_name,
unsigned int domain)
const std::string topic_name,
const std::string type_name,
const unsigned int domain)
{
std::cout << "topic name: " << topic_name << "type_name: " << type_name << "!!!!!!!" << std::endl;

eprosima::fastdds::dds::DomainParticipantQos pqos;
pqos.name("TypeIntrospectionExample_Participant_Publisher");
pqos.wire_protocol().builtin.typelookup_config.use_client = false;
Expand Down Expand Up @@ -150,8 +152,8 @@ void create_publisher(
}

eprosima::fastrtps::types::DynamicData_ptr send_sample(
unsigned int index = 1,
unsigned int time_sleep = 100)
const unsigned int index = 1,
const unsigned int time_sleep = 100)
{
// Create and initialize new dynamic data
eprosima::fastrtps::types::DynamicData_ptr dynamic_data_;
Expand All @@ -171,33 +173,32 @@ eprosima::fastrtps::types::DynamicData_ptr send_sample(
}

eprosima::fastrtps::types::DynamicData_ptr record(
std::string file_name,
unsigned int num_msgs = 1,
unsigned int downsampling = 1,
bool ros2_types = false)
const std::string file_name,
const unsigned int num_msgs = 1,
const unsigned int downsampling = 1,
const bool ros2_types = false)
{
eprosima::fastrtps::types::DynamicData_ptr send_data;
{
// Create Recorder
auto recorder = create_recorder(file_name, downsampling, DdsRecorderState::RUNNING, 20, ros2_types);

// Create Recorder
auto recorder = create_recorder(file_name, downsampling, DdsRecorderState::RUNNING, 20, ros2_types);

// Create Publisher
ros2_types ? create_publisher(test::ros2_topic_name, test::ros2_type_name, test::DOMAIN) : create_publisher(
test::dds_topic_name, test::dds_type_name, test::DOMAIN);


// Create Publisher
ros2_types ? create_publisher(test::ros2_topic_name, test::ros2_type_name, test::DOMAIN) : create_publisher(
test::dds_topic_name, test::dds_type_name, test::DOMAIN);

// Send data
for (unsigned int i = 0; i < num_msgs; i++)
{
send_data = send_sample(test::index);
// Send data
for (unsigned int i = 0; i < num_msgs; i++)
{
send_data = send_sample(test::index);
}
}

return send_data;
}

mcap::LinearMessageView get_msgs_mcap(
std::string file_name,
const std::string file_name,
mcap::McapReader& mcap_reader_)
{
auto status = mcap_reader_.open(file_name);
Expand All @@ -208,16 +209,16 @@ mcap::LinearMessageView get_msgs_mcap(
}

std::tuple<unsigned int, double> record_with_transitions(
std::string file_name,
const std::string file_name,
DdsRecorderState init_state,
unsigned int first_round,
unsigned int secound_round,
const unsigned int first_round,
const unsigned int secound_round,
DdsRecorderState current_state,
EventKind event = EventKind::NO_EVENT,
unsigned int event_window = 20,
const unsigned int event_window = 20,
unsigned int time_sleep = 0,
unsigned int downsampling = 1,
bool ros2_types = false)
const unsigned int downsampling = 1,
const bool ros2_types = false)
{
uint64_t current_time;
{
Expand Down Expand Up @@ -310,7 +311,7 @@ std::tuple<unsigned int, double> record_with_transitions(
TEST(McapFileCreationTest, mcap_data_msgs)
{

std::string file_name = "output_mcap_data_msgs.mcap";
const std::string file_name = "output_mcap_data_msgs.mcap";
eprosima::fastrtps::types::DynamicData_ptr send_data;
send_data = record(file_name);

Expand Down Expand Up @@ -342,15 +343,15 @@ TEST(McapFileCreationTest, mcap_data_msgs)
TEST(McapFileCreationTest, mcap_dds_topic)
{

std::string file_name = "output_mcap_data_topic.mcap";
const std::string file_name = "output_mcap_dds_topic.mcap";

record(file_name);

mcap::McapReader mcap_reader;
auto messages = get_msgs_mcap(file_name, mcap_reader);

std::string received_topic;
std::string received_data_type_name;
std::string received_topic = "";
std::string received_data_type_name = "";

for (auto it = messages.begin(); it != messages.end(); it++)
{
Expand All @@ -368,15 +369,15 @@ TEST(McapFileCreationTest, mcap_dds_topic)
TEST(McapFileCreationTest, mcap_ros2_topic)
{

std::string file_name = "output_mcap_data_topic.mcap";
const std::string file_name = "output_mcap_ros2_topic.mcap";

record(file_name, 1, 1, true);

mcap::McapReader mcap_reader;
auto messages = get_msgs_mcap(file_name, mcap_reader);

std::string received_topic;
std::string received_data_type_name;
std::string received_topic = "";
std::string received_data_type_name = "";

for (auto it = messages.begin(); it != messages.end(); it++)
{
Expand All @@ -394,7 +395,7 @@ TEST(McapFileCreationTest, mcap_ros2_topic)
TEST(McapFileCreationTest, mcap_data_num_msgs)
{

std::string file_name = "output_mcap_data_num_msgs.mcap";
const std::string file_name = "output_mcap_data_num_msgs.mcap";

record(file_name, test::n_msgs);

Expand All @@ -416,7 +417,7 @@ TEST(McapFileCreationTest, mcap_data_num_msgs)
TEST(McapFileCreationTest, mcap_data_num_msgs_downsampling)
{

std::string file_name = "output_mcap_data_num_msgs_downsampling.mcap";
const std::string file_name = "output_mcap_data_num_msgs_downsampling.mcap";

record(file_name, test::n_msgs, test::downsampling);

Expand Down Expand Up @@ -446,7 +447,7 @@ TEST(McapFileCreationTest, mcap_data_num_msgs_downsampling)

TEST(McapFileCreationTest, transition_running)
{
std::string file_name = "output_transition_running.mcap";
const std::string file_name = "output_transition_running.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -465,7 +466,7 @@ TEST(McapFileCreationTest, transition_running)

TEST(McapFileCreationTest, transition_paused)
{
std::string file_name = "output_transition_paused.mcap";
const std::string file_name = "output_transition_paused.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -484,7 +485,7 @@ TEST(McapFileCreationTest, transition_paused)

TEST(McapFileCreationTest, transition_stopped)
{
std::string file_name = "output_transition_stopped.mcap";
const std::string file_name = "output_transition_stopped.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -503,7 +504,7 @@ TEST(McapFileCreationTest, transition_stopped)

TEST(McapFileCreationTest, transition_suspended)
{
std::string file_name = "output_transition_suspended.mcap";
const std::string file_name = "output_transition_suspended.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -522,7 +523,7 @@ TEST(McapFileCreationTest, transition_suspended)

TEST(McapFileCreationTest, transition_running_paused)
{
std::string file_name = "output_transition_running_paused.mcap";
const std::string file_name = "output_transition_running_paused.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -541,7 +542,7 @@ TEST(McapFileCreationTest, transition_running_paused)

TEST(McapFileCreationTest, transition_running_stopped)
{
std::string file_name = "output_transition_running_stopped.mcap";
const std::string file_name = "output_transition_running_stopped.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -560,7 +561,7 @@ TEST(McapFileCreationTest, transition_running_stopped)

TEST(McapFileCreationTest, transition_running_suspended)
{
std::string file_name = "output_transition_running_suspended.mcap";
const std::string file_name = "output_transition_running_suspended.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -579,7 +580,7 @@ TEST(McapFileCreationTest, transition_running_suspended)

TEST(McapFileCreationTest, transition_paused_running)
{
std::string file_name = "output_transition_paused_running.mcap";
const std::string file_name = "output_transition_paused_running.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -598,7 +599,7 @@ TEST(McapFileCreationTest, transition_paused_running)

TEST(McapFileCreationTest, transition_paused_stopped)
{
std::string file_name = "output_transition_paused_stopped.mcap";
const std::string file_name = "output_transition_paused_stopped.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -617,7 +618,7 @@ TEST(McapFileCreationTest, transition_paused_stopped)

TEST(McapFileCreationTest, transition_paused_suspended)
{
std::string file_name = "output_transition_paused_suspended.mcap";
const std::string file_name = "output_transition_paused_suspended.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -636,7 +637,7 @@ TEST(McapFileCreationTest, transition_paused_suspended)

TEST(McapFileCreationTest, transition_stopped_running)
{
std::string file_name = "output_transition_stopped_running.mcap";
const std::string file_name = "output_transition_stopped_running.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -655,7 +656,7 @@ TEST(McapFileCreationTest, transition_stopped_running)

TEST(McapFileCreationTest, transition_stopped_paused)
{
std::string file_name = "output_transition_stopped_paused.mcap";
const std::string file_name = "output_transition_stopped_paused.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -674,7 +675,7 @@ TEST(McapFileCreationTest, transition_stopped_paused)

TEST(McapFileCreationTest, transition_stopped_suspended)
{
std::string file_name = "output_transition_stopped_suspended.mcap";
const std::string file_name = "output_transition_stopped_suspended.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -693,7 +694,7 @@ TEST(McapFileCreationTest, transition_stopped_suspended)

TEST(McapFileCreationTest, transition_suspended_running)
{
std::string file_name = "output_transition_suspended_running.mcap";
const std::string file_name = "output_transition_suspended_running.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -712,7 +713,7 @@ TEST(McapFileCreationTest, transition_suspended_running)

TEST(McapFileCreationTest, transition_suspended_paused)
{
std::string file_name = "output_transition_suspended_paused.mcap";
const std::string file_name = "output_transition_suspended_paused.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -731,7 +732,7 @@ TEST(McapFileCreationTest, transition_suspended_paused)

TEST(McapFileCreationTest, transition_suspended_stopped)
{
std::string file_name = "output_transition_suspended_stopped.mcap";
const std::string file_name = "output_transition_suspended_stopped.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -751,7 +752,7 @@ TEST(McapFileCreationTest, transition_suspended_stopped)
// can fail due to two race conditions but is very unlikely
TEST(McapFileCreationTest, transition_paused_event_less_window)
{
std::string file_name = "output_transition_paused_event_less_window.mcap";
const std::string file_name = "output_transition_paused_event_less_window.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -774,7 +775,7 @@ TEST(McapFileCreationTest, transition_paused_event_less_window)

TEST(McapFileCreationTest, transition_paused_event_max_window)
{
std::string file_name = "output_transition_paused_event_max_window.mcap";
const std::string file_name = "output_transition_paused_event_max_window.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -797,7 +798,7 @@ TEST(McapFileCreationTest, transition_paused_event_max_window)

TEST(McapFileCreationTest, transition_paused_event_start)
{
std::string file_name = "output_transition_paused_event_start.mcap";
const std::string file_name = "output_transition_paused_event_start.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -820,7 +821,7 @@ TEST(McapFileCreationTest, transition_paused_event_start)

TEST(McapFileCreationTest, transition_paused_event_stop)
{
std::string file_name = "output_transition_paused_event_stop.mcap";
const std::string file_name = "output_transition_paused_event_stop.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand All @@ -843,7 +844,7 @@ TEST(McapFileCreationTest, transition_paused_event_stop)

TEST(McapFileCreationTest, transition_paused_event_suspend)
{
std::string file_name = "output_transition_paused_event_suspend.mcap";
const std::string file_name = "output_transition_paused_event_suspend.mcap";

unsigned int n_data_1 = rand() % 10 + 1;
unsigned int n_data_2 = rand() % 10 + 1;
Expand Down
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