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Turned nodelet unload tests to using callback queues so that their us…
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…age resembles the real one
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@peci1
peci1 committed Apr 10, 2023
1 parent 1266fa9 commit acdae2f
Showing 1 changed file with 85 additions and 33 deletions.
118 changes: 85 additions & 33 deletions nodelet/test/test_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
/**
* \brief A mock of the nodelet::Nodelet class with empty onInit().
*/
struct TestNodelet : public ::nodelet::Nodelet
struct TestNodelet : public nodelet::Nodelet
{
/**
* \brief If wasOk is not null, set the value of this->ok() to it while the object is destroyed.
Expand All @@ -47,11 +47,6 @@ struct TestNodelet : public ::nodelet::Nodelet
{
if (this->wasOk != nullptr)
*this->wasOk = this->ok();
this->requestStop();
// Prevent destruction of the nodelet until the sleep callback finishes. It needs to query this->ok() and it
// cannot do it on an already destroyed nodelet.
while (ros::ok() && this->sleepRunning)
ros::WallDuration(1e-3).sleep();
}

/**
Expand All @@ -61,28 +56,48 @@ struct TestNodelet : public ::nodelet::Nodelet
{
}

bool sleepCb(const ros::Duration& duration, volatile bool& startedExecuting)
{
volatile bool sleepRunning {true};
volatile bool sleepOk {false};

timer = this->getNodeHandle().createWallTimer(ros::WallDuration(0.001),
[=,&sleepOk,&sleepRunning,&startedExecuting](const ros::WallTimerEvent&) {
startedExecuting = true;
sleepOk = this->sleep(duration);
sleepRunning = false;
}, true);

// no access to this-> past this point; the nodelet might already be destroyed

while (sleepRunning)
ros::WallDuration(1e-3).sleep();

return sleepOk;
}

/**
* \brief Sleep for the given amount of time, checking this->ok() for possible interruptions.
* \param[in] duration Duration of the sleep.
* \return The value of this->ok() after the sleep.
*/
bool sleep(const ros::Duration& duration) const
bool sleep(const ros::Duration& duration)
{
const auto endTime = ros::Time::now() + duration;
this->sleepRunning = true;

while (ros::Time::now() < endTime && this->ok())
ros::WallDuration(1e-3).sleep();
this->sleepRunning = false;

if (ros::Time::now() < endTime)
NODELET_INFO_STREAM("Ended " << (endTime - ros::Time::now()) << " s before deadline");

return this->ok();
}

//! \brief The value of this->ok() during destruction.
volatile bool* wasOk {nullptr};

//! \brief True while the sleep is being executed.
volatile mutable bool sleepRunning {false};
ros::WallTimer timer;
};

/**
Expand Down Expand Up @@ -125,7 +140,8 @@ TEST(StatefulNodelet, sleepInterruptSystime) // NOLINT
finished = true;
});

ros::WallDuration(0.1).sleep();
for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

Expand Down Expand Up @@ -159,7 +175,8 @@ TEST(StatefulNodelet, sleepInterruptSimtime) // NOLINT
finished = true;
});

ros::WallDuration(0.1).sleep();
for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

Expand Down Expand Up @@ -195,11 +212,12 @@ TEST(StatefulNodelet, sleepFinishSystime) // NOLINT
finished = true;
});

ros::WallDuration(0.1).sleep();
for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

ros::WallDuration(1).sleep();
ros::WallDuration(1.1).sleep();

EXPECT_TRUE(finished);

Expand Down Expand Up @@ -228,7 +246,8 @@ TEST(StatefulNodelet, sleepFinishSimtime) // NOLINT
finished = true;
});

ros::WallDuration(0.1).sleep();
for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

Expand Down Expand Up @@ -282,8 +301,11 @@ TEST(StatefulNodelet, sleepInterruptByUnloadSystime) // NOLINT
});
loaderPointer = &l;
// Keep loaderThread running until the end of this test.
while (!stop)
while (!stop && ros::ok())
{
ros::spinOnce();
ros::WallDuration(0, 1000000).sleep();
}
});
// Wait until loaderThread creates the loader
while (loaderPointer == nullptr)
Expand All @@ -301,43 +323,56 @@ TEST(StatefulNodelet, sleepInterruptByUnloadSystime) // NOLINT

// First, try if the sleep will finish if waiting enough time

bool started = false;
bool finished = false;
volatile bool started = false;
volatile bool startedExecuting = false;
volatile bool finished = false;
std::thread t([&]()
{
started = true;
EXPECT_TRUE(nodelet->sleep(ros::Duration(1)));
EXPECT_TRUE(nodelet->sleepCb(ros::Duration(1), startedExecuting));
EXPECT_TRUE(nodelet->ok());
finished = true;
});

ros::WallDuration(0.1).sleep();
for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

for (size_t i = 0; i < 1000 && !startedExecuting; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(startedExecuting);

ros::WallDuration(1).sleep();
ros::WallDuration(1.01).sleep();
EXPECT_TRUE(finished);

// Now, test that the sleep can be interrupted.

started = false;
startedExecuting = false;
finished = false;
std::thread t2([&]()
{
started = true;
EXPECT_FALSE(nodelet->sleep({1, 0}));
EXPECT_FALSE(nodelet->sleepCb({1, 0}, startedExecuting));
finished = true;
// cannot test EXPECT_TRUE(cras::isNodeletUnloading(*nodelet)) here as nodelet is no longer valid
// the following values are flaky for some reason, so wait a bit to help them settle
ros::WallDuration(0.1).sleep();
// cannot test EXPECT_TRUE(nodelet->ok()) here as nodelet is no longer valid
EXPECT_FALSE(wasOk);
});

ros::WallDuration(0.1).sleep();
for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

for (size_t i = 0; i < 1000 && !startedExecuting; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(startedExecuting);

EXPECT_TRUE(wasOk);
loader.unload("my_nodelet");
ros::WallDuration(0.1).sleep(); // wait for the unloading to clean callback queues
EXPECT_FALSE(wasOk);

ros::WallDuration(0.1).sleep();
Expand Down Expand Up @@ -377,8 +412,11 @@ TEST(StatefulNodelet, sleepInterruptByUnloadSimtime) // NOLINT
});
loaderPointer = &l;
// Keep loaderThread running until the end of this test.
while (!stop)
while (!stop && ros::ok())
{
ros::spinOnce();
ros::WallDuration(0, 1000000).sleep();
}
});
// Wait until loaderThread creates the loader
while (loaderPointer == nullptr)
Expand All @@ -397,20 +435,26 @@ TEST(StatefulNodelet, sleepInterruptByUnloadSimtime) // NOLINT
// First, try if the sleep will finish if waiting enough time

bool started = false;
bool startedExecuting = false;
bool finished = false;
std::thread t([&]()
{
EXPECT_TRUE(nodelet->ok());
started = true;
EXPECT_TRUE(nodelet->sleep({1, 0}));
EXPECT_TRUE(nodelet->sleepCb({1, 0}, startedExecuting));
finished = true;
EXPECT_TRUE(nodelet->ok());
});

ros::WallDuration(0.1).sleep();
for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

for (size_t i = 0; i < 1000 && !startedExecuting; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(startedExecuting);

EXPECT_TRUE(nodelet->ok());

ros::Time::setNow(ros::Time(11.1));
Expand All @@ -424,26 +468,34 @@ TEST(StatefulNodelet, sleepInterruptByUnloadSimtime) // NOLINT
ros::Time::setNow(ros::Time(10));

started = false;
startedExecuting = false;
finished = false;
std::thread t2([&]()
{
EXPECT_TRUE(nodelet->ok());
started = true;
EXPECT_FALSE(nodelet->sleep({1, 0}));
EXPECT_FALSE(nodelet->sleepCb({1, 0}, startedExecuting));
finished = true;
// cannot test EXPECT_TRUE(nodelet->ok()) here as nodelet is no longer valid
ros::WallDuration(0.1).sleep();
EXPECT_FALSE(wasOk);
});

ros::Time::setNow(ros::Time(10.1)); // not enough for the sleep to finish
ros::WallDuration(0.1).sleep();

for (size_t i = 0; i < 1000 && !started; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(started);
EXPECT_FALSE(finished);

for (size_t i = 0; i < 1000 && !startedExecuting; ++i)
ros::WallDuration(0.001).sleep();
EXPECT_TRUE(startedExecuting);

EXPECT_TRUE(nodelet->ok());
EXPECT_TRUE(wasOk);
loader.unload("my_nodelet");
ros::WallDuration(0.1).sleep(); // wait for the unloading to clean callback queues
EXPECT_FALSE(wasOk);

ros::WallDuration(0.1).sleep();
Expand All @@ -460,4 +512,4 @@ int main(int argc, char **argv)
ros::init(argc, argv, "test_nodelet");
ros::start();
return RUN_ALL_TESTS();
}
}

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