compile tests

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
ros2 · Apr 27, 2019 · f12e676 · f12e676
1 parent 1dcede7
commit f12e676
Show file tree

Hide file tree

Showing 4 changed files with 186 additions and 1 deletion.
diff --git a/rosbag2_bag_v2_plugins/CMakeLists.txt b/rosbag2_bag_v2_plugins/CMakeLists.txt
@@ -125,7 +125,6 @@ ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(rosbag2_storage)
 ament_export_dependencies(rosbag2 ros1_rosbag_storage rosbag2_storage)
 
-
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_lint_auto REQUIRED)
@@ -158,6 +157,28 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_rosbag_output_stream
       rosbag2_test_common)
   endif()
+
+  ament_add_gmock(test_rosbag2_play_rosbag_v2_end_to_end
+    test/rosbag2_bag_v2_plugins/test_rosbag2_play_rosbag_v2_end_to_end.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_rosbag2_play_rosbag_v2_end_to_end)
+    ament_target_dependencies(test_rosbag2_play_rosbag_v2_end_to_end
+      rosbag2_storage
+      rclcpp
+      rosbag2_test_common
+      std_msgs)
+  endif()
+
+  ament_add_gmock(test_rosbag2_info_rosbag_v2_end_to_end
+    test/rosbag2_bag_v2_plugins/test_rosbag2_info_rosbag_v2_end_to_end.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_rosbag2_info_rosbag_v2_end_to_end)
+    ament_target_dependencies(test_rosbag2_info_rosbag_v2_end_to_end
+      rosbag2_storage
+      rclcpp
+      rosbag2_test_common
+      std_msgs)
+  endif()
 endif()
 
 ament_package()
diff --git a/rosbag2_bag_v2_plugins/resources/test_bag_end_to_end.bag b/rosbag2_bag_v2_plugins/resources/test_bag_end_to_end.bag
diff --git a/...ag2_bag_v2_plugins/test/rosbag2_bag_v2_plugins/test_rosbag2_info_rosbag_v2_end_to_end.cpp b/...ag2_bag_v2_plugins/test/rosbag2_bag_v2_plugins/test_rosbag2_info_rosbag_v2_end_to_end.cpp
@@ -0,0 +1,72 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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.
+
+#include <gmock/gmock.h>
+
+#include <cstdlib>
+#include <string>
+#include <thread>
+
+#include "rosbag2_test_common/process_execution_helpers.hpp"
+
+using namespace ::testing;  // NOLINT
+
+class InfoV2EndToEndTestFixture : public Test
+{
+public:
+  InfoV2EndToEndTestFixture()
+  {
+    database_path_ = _SRC_RESOURCES_DIR_PATH;  // variable defined in CMakeLists.txt
+  }
+
+  std::string database_path_;
+};
+
+TEST_F(InfoV2EndToEndTestFixture, info_end_to_end_test) {
+  internal::CaptureStdout();
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag info test_bag_end_to_end.bag -s rosbag_v2", database_path_);
+  std::string output = internal::GetCapturedStdout();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+// The bag size depends on the os and is not asserted, the time is asserted time zone independent
+  EXPECT_THAT(output, ContainsRegex(
+      "\nFiles:             test_bag_end_to_end\\.bag"
+      "\nBag size:          .*B"
+      "\nStorage id:        rosbag_v2"
+      "\nDuration:          3\\.0s"
+      "\nStart:             Dec .+ 2018 .+:.+:06\\.974 \\(1544000766\\.974\\)"
+      "\nEnd                Dec .+ 2018 .+:.+:09\\.975 \\(1544000769\\.975\\)"
+      "\nMessages:          11"
+      "\nTopic information: "));
+
+  EXPECT_THAT(output, HasSubstr(
+      "Topic: rosout | Type: rosgraph_msgs/Log | Count: 5 | Serialization Format: rosbag_v2\n"));
+  EXPECT_THAT(output, HasSubstr("Topic: string_topic | Type: std_msgs/String | Count: 3 | "
+    "Serialization Format: rosbag_v2\n"));
+  EXPECT_THAT(output, HasSubstr(
+      "Topic: int_topic | Type: std_msgs/Int32 | Count: 3 | Serialization Format: rosbag_v2"
+  ));
+}
+
+
+TEST_F(InfoV2EndToEndTestFixture, info_fails_gracefully_if_storage_format_is_not_specified) {
+  internal::CaptureStderr();
+  auto exit_code =
+    execute_and_wait_until_completion("ros2 bag info test_bag.bag", database_path_);
+  auto error_output = internal::GetCapturedStderr();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(error_output, HasSubstr("Could not read metadata for test_bag.bag"));
+}
diff --git a/...ag2_bag_v2_plugins/test/rosbag2_bag_v2_plugins/test_rosbag2_play_rosbag_v2_end_to_end.cpp b/...ag2_bag_v2_plugins/test/rosbag2_bag_v2_plugins/test_rosbag2_play_rosbag_v2_end_to_end.cpp
@@ -0,0 +1,92 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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.
+
+#include <gmock/gmock.h>
+
+#include <cstdlib>
+#include <future>
+#include <iostream>
+#include <map>
+#include <memory>
+#include <string>
+#include <vector>
+
+// rclcpp must be included before process_execution_helpers.hpp
+#include "rclcpp/rclcpp.hpp"
+#include "rosbag2_test_common/process_execution_helpers.hpp"
+
+#include "std_msgs/msg/string.hpp"
+#include "std_msgs/msg/int32.hpp"
+#include "std_msgs/msg/int32_multi_array.hpp"
+#include "rosbag2_test_common/subscription_manager.hpp"
+
+using namespace ::testing;  // NOLINT
+using namespace rosbag2_test_common;  // NOLINT
+
+class PlayEndToEndTestFixture : public Test
+{
+public:
+  PlayEndToEndTestFixture()
+  {
+    database_path_ = _SRC_RESOURCES_DIR_PATH;  // variable defined in CMakeLists.txt
+    sub_ = std::make_unique<SubscriptionManager>();
+  }
+
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+  std::string database_path_;
+  std::unique_ptr<SubscriptionManager> sub_;
+};
+
+TEST_F(PlayEndToEndTestFixture, play_end_to_end_test_does_not_try_to_publish_ros1_topics) {
+  sub_->add_subscription<std_msgs::msg::String>("/string_topic", 2);
+  sub_->add_subscription<std_msgs::msg::Int32>("/int_topic", 2);
+
+  auto subscription_future = sub_->spin_subscriptions();
+
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag play test_bag_end_to_end.bag -s rosbag_v2", database_path_);
+
+  subscription_future.get();
+
+  auto string_messages = sub_->get_received_messages<std_msgs::msg::String>("/string_topic");
+  auto int_messages = sub_->get_received_messages<std_msgs::msg::Int32>("/int_topic");
+
+  EXPECT_THAT(string_messages, SizeIs(Ge(2u)));
+  EXPECT_THAT(string_messages[0]->data, StrEq("foo"));
+
+  EXPECT_THAT(int_messages, SizeIs(2));
+  EXPECT_THAT(int_messages[0]->data, Eq(42));
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+}
+
+
+TEST_F(PlayEndToEndTestFixture, play_fails_gracefully_if_rosbag_v2_storage_id_is_not_specified) {
+  internal::CaptureStderr();
+  auto exit_code =
+    execute_and_wait_until_completion("ros2 bag play test_bag.bag", database_path_);
+  auto error_output = internal::GetCapturedStderr();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(error_output, HasSubstr("No storage could be initialized"));
+}