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Run relevant test_tracetools tests with all instrumented rmw impls #116

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Jun 21, 2024
Merged

Run relevant test_tracetools tests with all instrumented rmw impls #116

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39 changes: 34 additions & 5 deletions test_tracetools/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -198,19 +198,17 @@ if(BUILD_TESTING)
# Only run tracing tests if instrumentation and tracepoints are included
if(NOT TRACETOOLS_TRACEPOINTS_EXCLUDED)
find_package(ament_cmake_pytest REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)

# Tests to run with the default rmw implementation, which should not matter
set(_test_tracetools_pytest_tests
test/test_buffer.py
test/test_executor.py
test/test_intra.py
test/test_intra_pub_sub.py
test/test_lifecycle_node.py
test/test_node.py
test/test_pub_sub.py
test/test_generic_pub_sub.py
test/test_publisher.py
test/test_service.py
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test/test_subscription.py
test/test_generic_subscription.py
test/test_timer.py
)
foreach(_test_path ${_test_tracetools_pytest_tests})
Expand All @@ -221,6 +219,37 @@ if(BUILD_TESTING)
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
endforeach()

# Tests to run with all instrumented/supported rmw implementations
set(_test_tracetools_pytest_tests_multi_rmw
test/test_generic_pub_sub.py
test/test_generic_subscription.py
test/test_pub_sub.py
test/test_publisher.py
test/test_subscription.py
)
set(_test_tracetools_rmw_implementations
rmw_connextdds
rmw_cyclonedds_cpp
rmw_fastrtps_cpp
)
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get_available_rmw_implementations(rmw_implementations)
foreach(_test_path ${_test_tracetools_pytest_tests_multi_rmw})
get_filename_component(_test_name ${_test_path} NAME_WE)
foreach(rmw_implementation ${_test_tracetools_rmw_implementations})
if(rmw_implementation IN_LIST rmw_implementations)
ament_add_pytest_test(${_test_name}__${rmw_implementation} ${_test_path}
ENV RMW_IMPLEMENTATION=${rmw_implementation}
APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
TIMEOUT 60
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
else()
message(
"rmw implementation '${rmw_implementation}' not available for test '${_test_name}'")
endif()
endforeach()
endforeach()
endif()
endif()

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1 change: 1 addition & 0 deletions test_tracetools/package.xml
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Expand Up @@ -40,6 +40,7 @@
<test_depend>rclcpp</test_depend>
<test_depend>rclcpp_lifecycle</test_depend>
<test_depend>rcpputils</test_depend>
<test_depend>rmw_implementation_cmake</test_depend>
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<test_depend>std_msgs</test_depend>
<test_depend>std_srvs</test_depend>
<test_depend>tracetools</test_depend>
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5 changes: 4 additions & 1 deletion tracetools_test/tracetools_test/case.py
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Expand Up @@ -75,7 +75,10 @@ def __init__(
"""Create a TraceTestCase."""
super().__init__(methodName=args[0])
self._base_path = base_path or tempfile.gettempdir()
self._session_name_prefix = session_name_prefix
# Append rmw implementation name to session name if one is explicitly set
rmw_implementation = os.environ.get('RMW_IMPLEMENTATION', None)
self._session_name_prefix = \
session_name_prefix + ('__' + rmw_implementation if rmw_implementation else '')
self._events_ros = events_ros + [TRACE_TEST_ID_TP_NAME]
self._events_kernel = events_kernel
self._package = package
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