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https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-18 00:08:22 +08:00
msg: add message translation node for ROS
This commit is contained in:
Beat Küng
Silvan Fuhrer
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,16 @@
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/****************************************************************************
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* Copyright (c) 2024 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <rclcpp/rclcpp.hpp>
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int main(int argc, char ** argv)
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{
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rclcpp::init(argc, argv);
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testing::InitGoogleTest(&argc, argv);
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const int ret = RUN_ALL_TESTS();
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rclcpp::shutdown();
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return ret;
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}
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@@ -0,0 +1,350 @@
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/****************************************************************************
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* Copyright (c) 2024 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <src/monitor.h>
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#include <src/pub_sub_graph.h>
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#include <src/translation_util.h>
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#include <std_msgs/msg/float32.hpp>
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#include <std_msgs/msg/float64.hpp>
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#include <std_msgs/msg/int64.hpp>
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#include <std_msgs/msg/color_rgba.hpp>
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using namespace std::chrono_literals;
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// Define a custom struct with MESSAGE_VERSION field that can be used in ROS pubs and subs
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#define DEFINE_VERSIONED_ROS_MESSAGE_TYPE(CUSTOM_TYPE_NAME, ROS_TYPE_NAME, THIS_MESSAGE_VERSION) \
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struct CUSTOM_TYPE_NAME : public ROS_TYPE_NAME { \
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CUSTOM_TYPE_NAME() = default; \
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CUSTOM_TYPE_NAME(const ROS_TYPE_NAME& msg) : ROS_TYPE_NAME(msg) {} \
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static constexpr uint32_t MESSAGE_VERSION = THIS_MESSAGE_VERSION; \
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}; \
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template<> \
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struct rclcpp::TypeAdapter<CUSTOM_TYPE_NAME, ROS_TYPE_NAME> \
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{ \
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using is_specialized = std::true_type; \
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using custom_type = CUSTOM_TYPE_NAME; \
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using ros_message_type = ROS_TYPE_NAME; \
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static void convert_to_ros_message(const custom_type & source, ros_message_type & destination) \
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{ \
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destination = source; \
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} \
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static void convert_to_custom(const ros_message_type & source, custom_type & destination) \
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{ \
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destination = source; \
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} \
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}; \
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RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(CUSTOM_TYPE_NAME, ROS_TYPE_NAME);
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class PubSubGraphTest : public testing::Test
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{
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protected:
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void SetUp() override
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{
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_test_node = std::make_shared<rclcpp::Node>("test_node");
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_app_node = std::make_shared<rclcpp::Node>("app_node");
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_executor.add_node(_test_node);
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_executor.add_node(_app_node);
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for (auto& node : {_app_node, _test_node}) {
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auto ret = rcutils_logging_set_logger_level(
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node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
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if (ret != RCUTILS_RET_OK) {
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RCLCPP_ERROR(
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node->get_logger(), "Error setting severity: %s",
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rcutils_get_error_string().str);
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rcutils_reset_error();
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}
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}
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}
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bool spinWithTimeout(const std::function<bool(void)>& predicate) {
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const auto start = _app_node->now();
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while (_app_node->now() - start < 5s) {
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_executor.spin_some();
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if (predicate()) {
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return true;
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}
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}
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return false;
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}
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std::shared_ptr<rclcpp::Node> _test_node;
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std::shared_ptr<rclcpp::Node> _app_node;
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rclcpp::executors::SingleThreadedExecutor _executor;
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};
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class RegisteredTranslationsTest : public RegisteredTranslations {
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public:
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RegisteredTranslationsTest() = default;
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};
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(Float32Versioned, std_msgs::msg::Float32, 1u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(ColorRGBAVersioned, std_msgs::msg::ColorRGBA, 2u);
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class DirectTranslationTest {
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public:
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using MessageOlder = Float32Versioned;
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using MessageNewer = ColorRGBAVersioned;
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static constexpr const char* kTopic = "test/direct_translation";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.r = 1.f;
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msg_newer.g = msg_older.data;
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msg_newer.b = 2.f;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.data = msg_newer.r + msg_newer.g + msg_newer.b;
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}
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};
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TEST_F(PubSubGraphTest, DirectTranslation)
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{
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RegisteredTranslationsTest registered_translations;
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registered_translations.registerDirectTranslation<DirectTranslationTest>();
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PubSubGraph graph(*_test_node, registered_translations.topicTranslations());
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Monitor monitor(*_test_node, &graph, nullptr);
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const std::string topic_name = DirectTranslationTest::kTopic;
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const std::string topic_name_older_version = getVersionedTopicName(topic_name, DirectTranslationTest::MessageOlder::MESSAGE_VERSION);
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const std::string topic_name_newer_version = getVersionedTopicName(topic_name, DirectTranslationTest::MessageNewer::MESSAGE_VERSION);
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{
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// Create publisher + subscriber
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int num_topic_updates = 0;
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DirectTranslationTest::MessageNewer latest_data{};
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auto publisher = _app_node->create_publisher<DirectTranslationTest::MessageOlder>(topic_name_older_version,
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rclcpp::QoS(1).best_effort());
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auto subscriber = _app_node->create_subscription<DirectTranslationTest::MessageNewer>(topic_name_newer_version,
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rclcpp::QoS(1).best_effort(), [&num_topic_updates, &latest_data, this](
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DirectTranslationTest::MessageNewer::UniquePtr msg) -> void {
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RCLCPP_DEBUG(_app_node->get_logger(), "Topic updated: %.3f", (double) msg->g);
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latest_data = *msg;
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++num_topic_updates;
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});
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monitor.updateNow();
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// Wait until there is a subscriber & publisher
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ASSERT_TRUE(spinWithTimeout([&subscriber, &publisher]() {
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return subscriber->get_publisher_count() > 0 && publisher->get_subscription_count() > 0;
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})) << "Timeout, no publisher/subscriber found";
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// Publish some data & wait for it to arrive
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for (int i = 0; i < 10; ++i) {
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DirectTranslationTest::MessageOlder msg_older;
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msg_older.data = (float) i;
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publisher->publish(msg_older);
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ASSERT_TRUE(spinWithTimeout([&num_topic_updates, i]() {
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return num_topic_updates == i + 1;
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})) << "Timeout, topic update not received, i=" << i;
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// Check data
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EXPECT_FLOAT_EQ(latest_data.r, 1.f);
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EXPECT_FLOAT_EQ(latest_data.g, (float) i);
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EXPECT_FLOAT_EQ(latest_data.b, 2.f);
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}
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}
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// Now check the translation into the other direction
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{
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int num_topic_updates = 0;
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DirectTranslationTest::MessageOlder latest_data{};
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auto publisher = _app_node->create_publisher<DirectTranslationTest::MessageNewer>(topic_name_newer_version,
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rclcpp::QoS(1).best_effort());
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auto subscriber = _app_node->create_subscription<DirectTranslationTest::MessageOlder>(topic_name_older_version,
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rclcpp::QoS(1).best_effort(), [&num_topic_updates, &latest_data, this](
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DirectTranslationTest::MessageOlder::UniquePtr msg) -> void {
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RCLCPP_DEBUG(_app_node->get_logger(), "Topic updated: %.3f", (double) msg->data);
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latest_data = *msg;
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++num_topic_updates;
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});
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monitor.updateNow();
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// Wait until there is a subscriber & publisher
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ASSERT_TRUE(spinWithTimeout([&subscriber, &publisher]() {
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return subscriber->get_publisher_count() > 0 && publisher->get_subscription_count() > 0;
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})) << "Timeout, no publisher/subscriber found";
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// Publish some data & wait for it to arrive
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for (int i = 0; i < 10; ++i) {
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DirectTranslationTest::MessageNewer msg_newer;
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msg_newer.r = (float)i;
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msg_newer.g = (float)i * 10.f;
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msg_newer.b = (float)i * 100.f;
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publisher->publish(msg_newer);
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ASSERT_TRUE(spinWithTimeout([&num_topic_updates, i]() {
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return num_topic_updates == i + 1;
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})) << "Timeout, topic update not received, i=" << i;
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// Check data
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EXPECT_FLOAT_EQ(latest_data.data, 111.f * (float)i);
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}
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}
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}
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeAV1, std_msgs::msg::Float32, 1u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeBV1, std_msgs::msg::Float64, 1u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeCV1, std_msgs::msg::Int64, 1u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeAV2, std_msgs::msg::ColorRGBA, 2u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeBV2, std_msgs::msg::Int64, 2u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeAV3, std_msgs::msg::Float64, 3u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeBV3, std_msgs::msg::Int64, 3u);
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DEFINE_VERSIONED_ROS_MESSAGE_TYPE(MessageTypeCV3, std_msgs::msg::Float32, 3u);
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class TranslationMultiTestV2 {
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public:
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using MessagesOlder = TypesArray<MessageTypeAV1, MessageTypeBV1, MessageTypeCV1>;
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static constexpr const char* kTopicsOlder[] = {
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"test/multi_translation_topic_a",
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"test/multi_translation_topic_b",
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"test/multi_translation_topic_c",
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};
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static_assert(MessageTypeAV1::MESSAGE_VERSION == 1);
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static_assert(MessageTypeBV1::MESSAGE_VERSION == 1);
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static_assert(MessageTypeCV1::MESSAGE_VERSION == 1);
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using MessagesNewer = TypesArray<MessageTypeAV2, MessageTypeBV2>;
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static constexpr const char* kTopicsNewer[] = {
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"test/multi_translation_topic_a",
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"test/multi_translation_topic_b",
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};
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static_assert(MessageTypeAV2::MESSAGE_VERSION == 2);
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static_assert(MessageTypeBV2::MESSAGE_VERSION == 2);
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static void fromOlder(const MessagesOlder::Type1 &msg_older1, const MessagesOlder::Type2 &msg_older2,
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const MessagesOlder::Type3 &msg_older3,
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MessagesNewer::Type1 &msg_newer1, MessagesNewer::Type2 &msg_newer2) {
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msg_newer1.r = msg_older1.data;
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msg_newer1.g = (float)msg_older2.data;
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msg_newer1.b = (float)msg_older3.data;
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msg_newer2.data = msg_older3.data * 10;
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}
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static void toOlder(const MessagesNewer::Type1 &msg_newer1, const MessagesNewer::Type2 &msg_newer2,
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MessagesOlder::Type1 &msg_older1, MessagesOlder::Type2 &msg_older2, MessagesOlder::Type3 &msg_older3) {
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msg_older1.data = msg_newer1.r;
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msg_older2.data = msg_newer1.g;
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msg_older3.data = msg_newer2.data / 10;
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}
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};
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class TranslationMultiTestV3 {
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public:
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using MessagesOlder = TypesArray<MessageTypeAV2, MessageTypeBV2>;
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static constexpr const char* kTopicsOlder[] = {
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"test/multi_translation_topic_a",
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"test/multi_translation_topic_b",
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};
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using MessagesNewer = TypesArray<MessageTypeAV3, MessageTypeBV3, MessageTypeCV3>;
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static constexpr const char* kTopicsNewer[] = {
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"test/multi_translation_topic_a",
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"test/multi_translation_topic_b",
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"test/multi_translation_topic_c",
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};
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static void fromOlder(const MessagesOlder::Type1 &msg_older1, const MessagesOlder::Type2 &msg_older2,
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MessagesNewer::Type1 &msg_newer1, MessagesNewer::Type2 &msg_newer2, MessagesNewer::Type3 &msg_newer3) {
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msg_newer1.data = msg_older1.r;
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msg_newer2.data = (int64_t)msg_older1.g;
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msg_newer3.data = (float)msg_older2.data + 100;
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}
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static void toOlder(const MessagesNewer::Type1 &msg_newer1, const MessagesNewer::Type2 &msg_newer2, const MessagesNewer::Type3 &msg_newer3,
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MessagesOlder::Type1 &msg_older1, MessagesOlder::Type2 &msg_older2) {
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msg_older1.r = (float)msg_newer1.data;
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msg_older1.g = (float)msg_newer2.data;
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msg_older2.data = (int64_t)msg_newer3.data - 100;
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}
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};
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TEST_F(PubSubGraphTest, TranslationMulti) {
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RegisteredTranslationsTest registered_translations;
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// Register 3 different message versions, with 3 types -> 2 types -> 3 types
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registered_translations.registerTranslation<TranslationMultiTestV2>();
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registered_translations.registerTranslation<TranslationMultiTestV3>();
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PubSubGraph graph(*_test_node, registered_translations.topicTranslations());
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Monitor monitor(*_test_node, &graph, nullptr);
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const std::string topic_name_a = TranslationMultiTestV2::kTopicsOlder[0];
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const std::string topic_name_b = TranslationMultiTestV2::kTopicsOlder[1];
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const std::string topic_name_c = TranslationMultiTestV2::kTopicsOlder[2];
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// Create publishers for version 1 + subscribers for version 3
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int num_topic_updates = 0;
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MessageTypeAV3 latest_data_a{};
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MessageTypeBV3 latest_data_b{};
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MessageTypeCV3 latest_data_c{};
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auto publisher_a = _app_node->create_publisher<MessageTypeAV1>(getVersionedTopicName(topic_name_a, MessageTypeAV1::MESSAGE_VERSION),
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rclcpp::QoS(1).best_effort());
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auto publisher_b = _app_node->create_publisher<MessageTypeBV1>(getVersionedTopicName(topic_name_b, MessageTypeBV1::MESSAGE_VERSION),
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rclcpp::QoS(1).best_effort());
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auto publisher_c = _app_node->create_publisher<MessageTypeCV1>(getVersionedTopicName(topic_name_c, MessageTypeCV1::MESSAGE_VERSION),
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rclcpp::QoS(1).best_effort());
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auto subscriber_a = _app_node->create_subscription<MessageTypeAV3>(getVersionedTopicName(topic_name_a, MessageTypeAV3::MESSAGE_VERSION),
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rclcpp::QoS(1).best_effort(), [&num_topic_updates, &latest_data_a, this](
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MessageTypeAV3::UniquePtr msg) -> void {
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RCLCPP_DEBUG(_app_node->get_logger(), "Topic updated (A): %.3f", (double) msg->data);
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latest_data_a = *msg;
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++num_topic_updates;
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});
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auto subscriber_b = _app_node->create_subscription<MessageTypeBV3>(getVersionedTopicName(topic_name_b, MessageTypeBV3::MESSAGE_VERSION),
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rclcpp::QoS(1).best_effort(), [&num_topic_updates, &latest_data_b, this](
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MessageTypeBV3::UniquePtr msg) -> void {
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RCLCPP_DEBUG(_app_node->get_logger(), "Topic updated (B): %.3f", (double) msg->data);
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latest_data_b = *msg;
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++num_topic_updates;
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});
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auto subscriber_c = _app_node->create_subscription<MessageTypeCV3>(getVersionedTopicName(topic_name_c, MessageTypeCV3::MESSAGE_VERSION),
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rclcpp::QoS(1).best_effort(), [&num_topic_updates, &latest_data_c, this](
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MessageTypeCV3::UniquePtr msg) -> void {
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RCLCPP_DEBUG(_app_node->get_logger(), "Topic updated (C): %.3f", (double) msg->data);
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latest_data_c = *msg;
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++num_topic_updates;
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});
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monitor.updateNow();
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// Wait until there is a subscriber & publisher
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ASSERT_TRUE(spinWithTimeout([&]() {
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return subscriber_a->get_publisher_count() > 0 && subscriber_b->get_publisher_count() > 0 && subscriber_c->get_publisher_count() > 0 &&
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publisher_a->get_subscription_count() > 0 && publisher_b->get_subscription_count() > 0 && publisher_c->get_subscription_count() > 0;
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})) << "Timeout, no publisher/subscriber found";
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// Publish some data & wait for it to arrive
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for (int i = 0; i < 10; ++i) {
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MessageTypeAV1 msg_older_a;
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msg_older_a.data = (float) i;
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publisher_a->publish(msg_older_a);
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MessageTypeBV1 msg_older_b;
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msg_older_b.data = (float) i * 10.f;
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publisher_b->publish(msg_older_b);
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MessageTypeCV1 msg_older_c;
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msg_older_c.data = i * 100;
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publisher_c->publish(msg_older_c);
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ASSERT_TRUE(spinWithTimeout([&num_topic_updates, i]() {
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return num_topic_updates == (i + 1) * 3;
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})) << "Timeout, topic update not received, i=" << i << ", num updates=" << num_topic_updates;
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// Check data
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EXPECT_FLOAT_EQ(latest_data_a.data, (float)i);
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EXPECT_FLOAT_EQ(latest_data_b.data, (float)i * 10.f);
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EXPECT_FLOAT_EQ(latest_data_c.data, ((float)i * 100.f) * 10.f + 100.f);
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}
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}
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@@ -0,0 +1,215 @@
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/****************************************************************************
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* Copyright (c) 2024 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <src/monitor.h>
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#include <src/service_graph.h>
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#include <src/translation_util.h>
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#include <translation_node/srv/test_v0.hpp>
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#include <translation_node/srv/test_v1.hpp>
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#include <translation_node/srv/test_v2.hpp>
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using namespace std::chrono_literals;
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class ServiceTest : public testing::Test
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{
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protected:
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void SetUp() override
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{
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_test_node = std::make_shared<rclcpp::Node>("test_node");
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_app_node = std::make_shared<rclcpp::Node>("app_node");
|
||||
_executor.add_node(_test_node);
|
||||
_executor.add_node(_app_node);
|
||||
|
||||
for (auto& node : {_app_node, _test_node}) {
|
||||
auto ret = rcutils_logging_set_logger_level(
|
||||
node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
|
||||
if (ret != RCUTILS_RET_OK) {
|
||||
RCLCPP_ERROR(
|
||||
node->get_logger(), "Error setting severity: %s",
|
||||
rcutils_get_error_string().str);
|
||||
rcutils_reset_error();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool spinWithTimeout(const std::function<bool(void)>& predicate) {
|
||||
const auto start = _app_node->now();
|
||||
while (_app_node->now() - start < 5s) {
|
||||
_executor.spin_some();
|
||||
if (predicate()) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
std::shared_ptr<rclcpp::Node> _test_node;
|
||||
std::shared_ptr<rclcpp::Node> _app_node;
|
||||
rclcpp::executors::SingleThreadedExecutor _executor;
|
||||
};
|
||||
|
||||
class RegisteredTranslationsTest : public RegisteredTranslations {
|
||||
public:
|
||||
RegisteredTranslationsTest() = default;
|
||||
};
|
||||
|
||||
|
||||
class ServiceTestV0V1 {
|
||||
public:
|
||||
using MessageOlder = translation_node::srv::TestV0;
|
||||
using MessageNewer = translation_node::srv::TestV1;
|
||||
|
||||
static constexpr const char* kTopic = "test/service";
|
||||
|
||||
static void fromOlder(const MessageOlder::Request &msg_older, MessageNewer::Request &msg_newer) {
|
||||
msg_newer.request_a = msg_older.request_a;
|
||||
}
|
||||
|
||||
static void toOlder(const MessageNewer::Request &msg_newer, MessageOlder::Request &msg_older) {
|
||||
msg_older.request_a = msg_newer.request_a;
|
||||
}
|
||||
|
||||
static void fromOlder(const MessageOlder::Response &msg_older, MessageNewer::Response &msg_newer) {
|
||||
msg_newer.response_a = msg_older.response_a;
|
||||
}
|
||||
|
||||
static void toOlder(const MessageNewer::Response &msg_newer, MessageOlder::Response &msg_older) {
|
||||
msg_older.response_a = msg_newer.response_a;
|
||||
}
|
||||
};
|
||||
|
||||
class ServiceTestV1V2 {
|
||||
public:
|
||||
using MessageOlder = translation_node::srv::TestV1;
|
||||
using MessageNewer = translation_node::srv::TestV2;
|
||||
|
||||
static constexpr const char* kTopic = "test/service";
|
||||
|
||||
static void fromOlder(const MessageOlder::Request &msg_older, MessageNewer::Request &msg_newer) {
|
||||
msg_newer.request_a = msg_older.request_a;
|
||||
msg_newer.request_b = 1234;
|
||||
}
|
||||
|
||||
static void toOlder(const MessageNewer::Request &msg_newer, MessageOlder::Request &msg_older) {
|
||||
msg_older.request_a = msg_newer.request_a + msg_newer.request_b;
|
||||
}
|
||||
|
||||
static void fromOlder(const MessageOlder::Response &msg_older, MessageNewer::Response &msg_newer) {
|
||||
msg_newer.response_a = msg_older.response_a;
|
||||
msg_newer.response_b = 32;
|
||||
}
|
||||
|
||||
static void toOlder(const MessageNewer::Response &msg_newer, MessageOlder::Response &msg_older) {
|
||||
msg_older.response_a = msg_newer.response_a + msg_newer.response_b;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
TEST_F(ServiceTest, Test)
|
||||
{
|
||||
RegisteredTranslationsTest registered_translations;
|
||||
registered_translations.registerServiceDirectTranslation<ServiceTestV0V1>();
|
||||
registered_translations.registerServiceDirectTranslation<ServiceTestV1V2>();
|
||||
|
||||
ServiceGraph graph(*_test_node, registered_translations.serviceTranslations());
|
||||
Monitor monitor(*_test_node, nullptr, &graph);
|
||||
|
||||
const std::string topic_name = ServiceTestV1V2::kTopic;
|
||||
const std::string topic_name_v0 = getVersionedTopicName(topic_name, ServiceTestV0V1::MessageOlder::Request::MESSAGE_VERSION);
|
||||
const std::string topic_name_v1 = getVersionedTopicName(topic_name, ServiceTestV0V1::MessageNewer::Request::MESSAGE_VERSION);
|
||||
const std::string topic_name_v2 = getVersionedTopicName(topic_name, ServiceTestV1V2::MessageNewer::Request::MESSAGE_VERSION);
|
||||
|
||||
|
||||
// Create service + clients
|
||||
int num_service_requests = 0;
|
||||
auto service = _app_node->create_service<ServiceTestV0V1::MessageOlder>(topic_name_v0, [&num_service_requests](
|
||||
const ServiceTestV0V1::MessageOlder::Request::SharedPtr request, ServiceTestV0V1::MessageOlder::Response::SharedPtr response) {
|
||||
response->response_a = request->request_a + 1;
|
||||
++num_service_requests;
|
||||
});
|
||||
auto client0 = _app_node->create_client<ServiceTestV0V1::MessageOlder>(topic_name_v0);
|
||||
auto client1 = _app_node->create_client<ServiceTestV0V1::MessageNewer>(topic_name_v1);
|
||||
auto client2 = _app_node->create_client<ServiceTestV1V2::MessageNewer>(topic_name_v2);
|
||||
|
||||
monitor.updateNow();
|
||||
|
||||
// Wait until there is a service for each client
|
||||
ASSERT_TRUE(spinWithTimeout([&client0, &client1, &client2]() {
|
||||
return client0->service_is_ready() && client1->service_is_ready() && client2->service_is_ready();
|
||||
})) << "Timeout, no service for clients found: " << client0->service_is_ready() << client1->service_is_ready() << client2->service_is_ready();
|
||||
|
||||
|
||||
|
||||
// Make some requests
|
||||
int expected_num_service_requests = 1;
|
||||
|
||||
// Client 1
|
||||
for (int i = 0; i < 10; ++i) {
|
||||
auto request = std::make_shared<ServiceTestV0V1::MessageNewer::Request>();
|
||||
ServiceTestV0V1::MessageNewer::Response response;
|
||||
request->request_a = i;
|
||||
bool got_response = false;
|
||||
client1->async_send_request(request, [&got_response, &response](rclcpp::Client<ServiceTestV0V1::MessageNewer>::SharedFuture result) {
|
||||
got_response = true;
|
||||
response = *result.get();
|
||||
});
|
||||
|
||||
ASSERT_TRUE(spinWithTimeout([&got_response]() {
|
||||
return got_response;
|
||||
})) << "Timeout, reply not received, i=" << i;
|
||||
|
||||
// Check data
|
||||
EXPECT_EQ(response.response_a, i + 1);
|
||||
EXPECT_EQ(num_service_requests, expected_num_service_requests);
|
||||
++expected_num_service_requests;
|
||||
}
|
||||
|
||||
// Client 0
|
||||
for (int i = 0; i < 10; ++i) {
|
||||
auto request = std::make_shared<ServiceTestV0V1::MessageOlder::Request>();
|
||||
ServiceTestV0V1::MessageOlder::Response response;
|
||||
request->request_a = i * 10;
|
||||
bool got_response = false;
|
||||
client0->async_send_request(request, [&got_response, &response](rclcpp::Client<ServiceTestV0V1::MessageOlder>::SharedFuture result) {
|
||||
got_response = true;
|
||||
response = *result.get();
|
||||
});
|
||||
|
||||
ASSERT_TRUE(spinWithTimeout([&got_response]() {
|
||||
return got_response;
|
||||
})) << "Timeout, reply not received, i=" << i;
|
||||
|
||||
// Check data
|
||||
EXPECT_EQ(response.response_a, i * 10 + 1);
|
||||
EXPECT_EQ(num_service_requests, expected_num_service_requests);
|
||||
++expected_num_service_requests;
|
||||
}
|
||||
|
||||
// Client 2
|
||||
for (int i = 0; i < 10; ++i) {
|
||||
auto request = std::make_shared<ServiceTestV1V2::MessageNewer::Request>();
|
||||
ServiceTestV1V2::MessageNewer::Response response;
|
||||
request->request_a = i * 10;
|
||||
request->request_b = i;
|
||||
bool got_response = false;
|
||||
client2->async_send_request(request, [&got_response, &response](rclcpp::Client<ServiceTestV1V2::MessageNewer>::SharedFuture result) {
|
||||
got_response = true;
|
||||
response = *result.get();
|
||||
});
|
||||
|
||||
ASSERT_TRUE(spinWithTimeout([&got_response]() {
|
||||
return got_response;
|
||||
})) << "Timeout, reply not received, i=" << i;
|
||||
|
||||
// Check data
|
||||
EXPECT_EQ(response.response_a, i + i * 10 + 1);
|
||||
EXPECT_EQ(response.response_b, 32);
|
||||
EXPECT_EQ(num_service_requests, expected_num_service_requests);
|
||||
++expected_num_service_requests;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
uint8 request_a
|
||||
---
|
||||
uint64 response_a
|
||||
@@ -0,0 +1,4 @@
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
uint64 request_a
|
||||
---
|
||||
uint8 response_a
|
||||
@@ -0,0 +1,6 @@
|
||||
uint32 MESSAGE_VERSION = 2
|
||||
uint8 request_a
|
||||
uint64 request_b
|
||||
---
|
||||
uint16 response_a
|
||||
uint64 response_b
|
||||
Reference in New Issue
Block a user