Tests for dynamic pub/sub

Signed-off-by: Luca Della Vedova <[email protected]>

Author: luca-della-vedova

rclrs/src/dynamic_message/dynamic_publisher.rs

@@ -138,6 +138,7 @@ impl DynamicPublisherState {
 #[cfg(test)]
 mod tests {
     use super::*;
+    use crate::test_helpers::*;
 
     fn assert_send<T: Send>() {}
     fn assert_sync<T: Sync>() {}
@@ -147,4 +148,109 @@ mod tests {
         assert_send::<DynamicPublisher>();
         assert_sync::<DynamicPublisher>();
     }
+
+    #[test]
+    fn test_dynamic_publishers() -> Result<(), RclrsError> {
+        use crate::TopicEndpointInfo;
+        use test_msgs::msg;
+
+        let namespace = "/test_dynamic_publishers_graph";
+        let graph = construct_test_graph(namespace)?;
+
+        let node_1_empty_publisher = graph.node1.create_dynamic_publisher(
+            "test_msgs/msg/Empty".try_into().unwrap(),
+            "graph_test_topic_1",
+        )?;
+        let topic1 = node_1_empty_publisher.topic_name();
+        let node_1_basic_types_publisher = graph.node1.create_dynamic_publisher(
+            "test_msgs/msg/BasicTypes".try_into().unwrap(),
+            "graph_test_topic_2",
+        )?;
+        let topic2 = node_1_basic_types_publisher.topic_name();
+        let node_2_default_publisher = graph.node2.create_dynamic_publisher(
+            "test_msgs/msg/Defaults".try_into().unwrap(),
+            "graph_test_topic_3",
+        )?;
+        let topic3 = node_2_default_publisher.topic_name();
+
+        std::thread::sleep(std::time::Duration::from_millis(100));
+
+        // Test count_publishers()
+        assert_eq!(graph.node1.count_publishers(&topic1)?, 1);
+        assert_eq!(graph.node1.count_publishers(&topic2)?, 1);
+        assert_eq!(graph.node1.count_publishers(&topic3)?, 1);
+
+        // Test get_publisher_names_and_types_by_node()
+        let node_1_publisher_names_and_types = graph
+            .node1
+            .get_publisher_names_and_types_by_node(&graph.node1.name(), namespace)?;
+
+        let types = node_1_publisher_names_and_types.get(&topic1).unwrap();
+        assert!(types.contains(&"test_msgs/msg/Empty".to_string()));
+
+        let types = node_1_publisher_names_and_types.get(&topic2).unwrap();
+        assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));
+
+        let node_2_publisher_names_and_types = graph
+            .node1
+            .get_publisher_names_and_types_by_node(&graph.node2.name(), namespace)?;
+
+        let types = node_2_publisher_names_and_types.get(&topic3).unwrap();
+        assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));
+
+        // Test get_publishers_info_by_topic()
+        let expected_publishers_info = vec![TopicEndpointInfo {
+            node_name: String::from("graph_test_node_1"),
+            node_namespace: String::from(namespace),
+            topic_type: String::from("test_msgs/msg/Empty"),
+        }];
+        assert_eq!(
+            graph.node1.get_publishers_info_by_topic(&topic1)?,
+            expected_publishers_info
+        );
+        assert_eq!(
+            graph.node2.get_publishers_info_by_topic(&topic1)?,
+            expected_publishers_info
+        );
+
+        // Test get_subscription_count()
+        assert_eq!(node_1_empty_publisher.get_subscription_count(), Ok(0));
+        assert_eq!(node_1_basic_types_publisher.get_subscription_count(), Ok(0));
+        assert_eq!(node_2_default_publisher.get_subscription_count(), Ok(0));
+        // Test subscription with static types
+        let _node_1_empty_subscriber = graph
+            .node1
+            .create_subscription("graph_test_topic_1", |_msg: msg::Empty| {});
+        let _node_1_basic_types_subscriber = graph
+            .node1
+            .create_subscription("graph_test_topic_2", |_msg: msg::BasicTypes| {});
+        let _node_2_default_subscriber = graph
+            .node2
+            .create_subscription("graph_test_topic_3", |_msg: msg::Defaults| {});
+        assert_eq!(node_1_empty_publisher.get_subscription_count(), Ok(1));
+        assert_eq!(node_1_basic_types_publisher.get_subscription_count(), Ok(1));
+        assert_eq!(node_2_default_publisher.get_subscription_count(), Ok(1));
+
+        // Test subscription with dynamic types
+        let _node_1_empty_subscriber = graph.node1.create_dynamic_subscription(
+            "test_msgs/msg/Empty".try_into().unwrap(),
+            "graph_test_topic_1",
+            |_, _| {},
+        );
+        let _node_1_basic_types_subscriber = graph.node1.create_dynamic_subscription(
+            "test_msgs/msg/BasicTypes".try_into().unwrap(),
+            "graph_test_topic_2",
+            |_, _| {},
+        );
+        let _node_2_default_subscriber = graph.node2.create_dynamic_subscription(
+            "test_msgs/msg/Defaults".try_into().unwrap(),
+            "graph_test_topic_3",
+            |_, _| {},
+        );
+        assert_eq!(node_1_empty_publisher.get_subscription_count(), Ok(2));
+        assert_eq!(node_1_basic_types_publisher.get_subscription_count(), Ok(2));
+        assert_eq!(node_2_default_publisher.get_subscription_count(), Ok(2));
+
+        Ok(())
+    }
 }

rclrs/src/dynamic_message/dynamic_subscription.rs

@@ -365,7 +365,6 @@ where
 mod tests {
     use super::*;
     use crate::test_helpers::*;
-    use test_msgs::msg;
 
     fn assert_send<T: Send>() {}
     fn assert_sync<T: Sync>() {}
@@ -389,12 +388,11 @@ mod tests {
             |_, _| {},
         )?;
         let topic1 = node_2_empty_subscription.topic_name();
-        let node_2_basic_types_subscription =
-            graph.node2.create_dynamic_subscription::<_>(
-                "test_msgs/msg/BasicTypes".try_into().unwrap(),
-                "graph_test_topic_2",
-                |_, _| {},
-            )?;
+        let node_2_basic_types_subscription = graph.node2.create_dynamic_subscription::<_>(
+            "test_msgs/msg/BasicTypes".try_into().unwrap(),
+            "graph_test_topic_2",
+            |_, _| {},
+        )?;
         let topic2 = node_2_basic_types_subscription.topic_name();
 
         let node_1_defaults_subscription = graph.node1.create_dynamic_subscription::<_>(