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Marshaling using "out" does not work on Windows and breaks BasicType arrays #6

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Marshaling using "out" does not work on Windows and breaks BasicType arrays #6

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793210c
Merge pull request #1 from samiamlabs/merge-upstream
samiamlabs Sep 3, 2019
2caf48e
Add uint8 test to unbounded sequences
samiamlabs Sep 3, 2019
a104b0b
:bug: Marshaling using "out" parameters does not work on windows
samiamlabs Sep 6, 2019
76a1729
:fire: Comment out LaserScanPubSub test
samiamlabs Sep 6, 2019
09f490d
Install unity_files to share dir
Sep 29, 2019
9cdb352
Change name of Player executable
Sep 29, 2019
d2feefa
:fire: Remove slow tests
samiamlabs Sep 30, 2019
8a3af61
:fire: Remove debug comment
samiamlabs Sep 30, 2019
e307f6d
Use Sam's ros2_dotnet branch
samiamlabs Oct 7, 2019
8a91644
Update README.md
samiamlabs Oct 7, 2019
a10941d
Use sam's .repos
samiamlabs Oct 7, 2019
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5 changes: 5 additions & 0 deletions rcldotnet_tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,10 @@ project(rcldotnet_tests C)
find_package(ament_cmake REQUIRED)
find_package(rcldotnet REQUIRED)
find_package(rcldotnet_common REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(test_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(dotnet_cmake_module REQUIRED)
find_package(rosidl_generator_cs REQUIRED)

Expand All @@ -16,8 +18,11 @@ find_package(DotNETExtra REQUIRED)
set(_assemblies_dep_dlls
${rcldotnet_common_ASSEMBLIES_DLL}
${rcldotnet_ASSEMBLIES_DLL}
${sensor_msgs_ASSEMBLIES_DLL}
${std_msgs_ASSEMBLIES_DLL}
${test_msgs_ASSEMBLIES_DLL}
${tf2_msgs_ASSEMBLIES_DLL}
${geometry_msgs_ASSEMBLIES_DLL}
${rosidl_generator_ASSEMBLIES_DLL}
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Good extension

)

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55 changes: 0 additions & 55 deletions rcldotnet_tests/LargeMessageTest.cs
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317 changes: 317 additions & 0 deletions rcldotnet_tests/MessagePubSubTest.cs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,317 @@
using NUnit.Framework;
using System;
using System.Linq;

namespace rclcs.Test
{
[TestFixture]
public class LargeMessageTest
{
Context pub_context;
Context sub_context;
Node pub_node;
Node sub_node;

[SetUp]
public void SetUp()
{
pub_context = new Context();
sub_context = new Context();

Rclcs.Init(pub_context);
Rclcs.Init(sub_context);

pub_node = new Node("pub_node", pub_context);
sub_node = new Node("sub_node", sub_context);
}

[TearDown]
public void TearDown()
{
pub_node.Dispose();
sub_node.Dispose();
Rclcs.Shutdown(pub_context);
Rclcs.Shutdown(sub_context);
}

[Test]
public void EmptyBoolPubSub()
{
bool callbackTriggered = false;
var subscription = sub_node.CreateSubscription<std_msgs.msg.Bool>(
"test_topic", (received_msg) => { callbackTriggered = true; });

var publisher = pub_node.CreatePublisher<std_msgs.msg.Bool>("test_topic");
var msg = new std_msgs.msg.Bool();

publisher.Publish(msg);

Rclcs.SpinOnce(sub_node, sub_context, 0.5);

Assert.That(callbackTriggered, Is.True);

publisher.Dispose();
subscription.Dispose();
}

[Test]
public void ImagePubSub()
{
bool callbackTriggered = false;

var subscription = sub_node.CreateSubscription<sensor_msgs.msg.Image>(
"test_topic", (received_msg) =>
{
callbackTriggered = true;
// Assert.That(received_msg.Data.Length, Is.EqualTo(10));
});

var publisher = pub_node.CreatePublisher<sensor_msgs.msg.Image>("test_topic");
var msg = new sensor_msgs.msg.Image();
msg.Data = new byte[1];
msg.Data[0] = 1;
publisher.Publish(msg);

Rclcs.SpinOnce(sub_node, sub_context, 0.5);

Assert.That(callbackTriggered, Is.True);

publisher.Dispose();
subscription.Dispose();
}

[Test]
public void EmptyDefaultsPubSub()
{
bool callbackTriggered = false;
var subscription = sub_node.CreateSubscription<test_msgs.msg.Defaults>(
"test_topic", (received_msg) => { callbackTriggered = true; });

var publisher = pub_node.CreatePublisher<test_msgs.msg.Defaults>("test_topic");
var msg = new test_msgs.msg.Defaults();

publisher.Publish(msg);

Rclcs.SpinOnce(sub_node, sub_context, 0.5);

Assert.That(callbackTriggered, Is.True);

publisher.Dispose();
subscription.Dispose();
}

[Test]
public void EmptyStringsPubSub()
{
bool callbackTriggered = false;
var subscription = sub_node.CreateSubscription<test_msgs.msg.Strings>(
"test_topic", (received_msg) => { callbackTriggered = true; });

var publisher = pub_node.CreatePublisher<test_msgs.msg.Strings>("test_topic");
var msg = new test_msgs.msg.Strings();

publisher.Publish(msg);

Rclcs.SpinOnce(sub_node, sub_context, 0.5);

Assert.That(callbackTriggered, Is.True);

publisher.Dispose();
subscription.Dispose();
}

[Test]
public void TfPubSub()
{
bool callbackTriggered = false;
var subscription = sub_node.CreateSubscription<tf2_msgs.msg.TFMessage>(
"test_topic", (received_msg) =>
{
callbackTriggered = true;
Assert.That(received_msg.Transforms.Length, Is.EqualTo(2));
});

var publisher = pub_node.CreatePublisher<tf2_msgs.msg.TFMessage>("test_topic");
var msg = new tf2_msgs.msg.TFMessage();
var transforms = new geometry_msgs.msg.TransformStamped[2];
transforms[0] = new geometry_msgs.msg.TransformStamped();
transforms[1] = new geometry_msgs.msg.TransformStamped();
msg.Transforms = transforms;

publisher.Publish(msg);
Rclcs.SpinOnce(sub_node, sub_context, 0.5);

Assert.That(callbackTriggered, Is.True);

publisher.Dispose();
subscription.Dispose();
}


[Test]
public void LaserScanPubSub()
{
bool callbackTriggered = false;

var subscription = sub_node.CreateSubscription<sensor_msgs.msg.LaserScan>(
"test_topic", (received_msg) =>
{
callbackTriggered = true;
// received_msg.ReadNativeMessage();
// Assert.That(received_msg.Ranges.Length, Is.EqualTo(10));
});

var publisher = pub_node.CreatePublisher<sensor_msgs.msg.LaserScan>("test_topic");
var msg = new sensor_msgs.msg.LaserScan();
msg.Ranges = new float[10];
Assert.That(msg.Ranges.Length, Is.EqualTo(10));

var copiedMsg = new sensor_msgs.msg.LaserScan();
copiedMsg.ReadNativeMessage(msg.Handle);

Assert.That(copiedMsg.Ranges.Length, Is.EqualTo(10));

msg.WriteNativeMessage();
publisher.Publish(msg);
Rclcs.SpinOnce(sub_node, sub_context, 0.5);

Assert.That(callbackTriggered, Is.True);

publisher.Dispose();
subscription.Dispose();
}

// [Test]
// public void MultiArrayDimensionPubSub()
// {
// bool callbackTriggered = false;
// var subscription = sub_node.CreateSubscription<std_msgs.msg.MultiArrayDimension>(
// "test_topic", (received_msg) => { callbackTriggered = true; });

// var publisher = pub_node.CreatePublisher<std_msgs.msg.MultiArrayDimension>("test_topic");

// var msg = new std_msgs.msg.MultiArrayDimension();

// publisher.Publish(msg);

// Rclcs.SpinOnce(sub_node, sub_context, 0.5);

// Assert.That(callbackTriggered, Is.True);

// publisher.Dispose();
// subscription.Dispose();
// }

// [Test]
// public void MultiArrayLayoutPubSub()
// {
// bool callbackTriggered = false;
// var subscription = sub_node.CreateSubscription<std_msgs.msg.MultiArrayLayout>(
// "test_topic", (received_msg) => { callbackTriggered = true; });
//
// var publisher = pub_node.CreatePublisher<std_msgs.msg.MultiArrayLayout>("test_topic");
//
// var msg = new std_msgs.msg.MultiArrayLayout();
//
// publisher.Publish(msg);
//
// Rclcs.SpinOnce(sub_node, sub_context, 0.5);
//
// Assert.That(callbackTriggered, Is.True);
//
// publisher.Dispose();
// subscription.Dispose();
// }

// [Test]
// public void Float64MultiArrayPubSub()
// {
// bool callbackTriggered = false;
// var subscription = sub_node.CreateSubscription<std_msgs.msg.Float64MultiArray>(
// "test_topic", (received_msg) => { callbackTriggered = true; });

// var publisher = pub_node.CreatePublisher<std_msgs.msg.Float64MultiArray>("test_topic");

// // var multiArrayDimension = new std_msgs.msg.MultiArrayDimension[1];
// // multiArrayDimension[0] = new std_msgs.msg.MultiArrayDimension();
// // var multiArrayLayout = new std_msgs.msg.MultiArrayLayout();
// // multiArrayLayout.Dim = multiArrayDimension;

// var msg = new std_msgs.msg.Float64MultiArray();
// // msg.Layout = multiArrayLayout;
// // msg.Data = new double[2];

// publisher.Publish(msg);

// Rclcs.SpinOnce(sub_node, sub_context, 0.5);

// Assert.That(callbackTriggered, Is.True);

// publisher.Dispose();
// subscription.Dispose();
// }

// [Test]
// public void ImageSub()
// {
// bool callbackTriggered = false;
// var subscription = sub_node.CreateSubscription<sensor_msgs.msg.Image>(
// "/image", (received_msg) =>
// {
// callbackTriggered = true;
// Assert.That(received_msg.Data[0], Is.EqualTo(5));
// });

// Rclcs.SpinOnce(sub_node, sub_context, 3.0);

// Assert.That(callbackTriggered, Is.True);

// subscription.Dispose();
// }

// TODO(sam): implement byte type in generators
// [Test]
// public void ByteMultiArrayPubSub()
// {
// bool callbackTriggered = false;
// var subscription = sub_node.CreateSubscription<std_msgs.msg.ByteMultiArray>(
// "test_topic", (received_msg) => { callbackTriggered = true; });
//
// var publisher = pub_node.CreatePublisher<std_msgs.msg.ByteMultiArray>("test_topic");
// var msg = new std_msgs.msg.ByteMultiArray();
// publisher.Publish(msg);
//
// Rclcs.SpinOnce(sub_node, sub_context, 0.5);
//
// Assert.That(callbackTriggered, Is.True);
//
// publisher.Dispose();
// subscription.Dispose();
// }

// [Test]
// public void EmptyUnboundedSequenses()
// {
// bool callbackTriggered = false;
// var subscription = node.CreateSubscription<test_msgs.msg.UnboundedSequences>(
// "test_topic", (received_msg) => { callbackTriggered = true; });
//
// var publisher = node.CreatePublisher<test_msgs.msg.UnboundedSequences>("test_topic");
// var msg = new test_msgs.msg.UnboundedSequences();
//
// msg.Basic_types_values = new test_msgs.msg.BasicTypes[0];
// msg.Constants_values = new test_msgs.msg.Constants[0];
// msg.Defaults_values = new test_msgs.msg.Defaults[0];
//
// publisher.Publish(msg);
// Rclcs.SpinOnce(node, context, 0.1);
//
// Assert.That(callbackTriggered, Is.True);
//
// publisher.Dispose();
// subscription.Dispose();
// }

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What is the status of commented tests?

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These tests are a bit slow to run and should not be necessary if the message read/write tests are written properly. Had not decided if I should keep them all. Deleted all but one for now.


}
}
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