Merge branch 'use-rmw-cyclonedds-cpp-for-rmw-related-test-tracetools' into 'master'

Run rmw-related test_tracetools tests with rmw_cyclonedds_cpp

See merge request ros-tracing/ros2_tracing!284

Author: christophebedard

test_tracetools/test/test_pub_sub.py

@@ -14,6 +14,7 @@
 
 import unittest
 
+from launch.actions import SetEnvironmentVariable
 from tracetools_test.case import TraceTestCase
 from tracetools_trace.tools import tracepoints as tp
 
@@ -39,6 +40,8 @@ def __init__(self, *args) -> None:
             ],
             package='test_tracetools',
             nodes=['test_ping', 'test_pong'],
+            # Need rmw_cyclonedds_cpp for the rmw instrumentation
+            additional_actions=SetEnvironmentVariable('RMW_IMPLEMENTATION', 'rmw_cyclonedds_cpp'),
         )
 
     def test_all(self):

test_tracetools/test/test_publisher.py

@@ -15,6 +15,7 @@
 
 import unittest
 
+from launch.actions import SetEnvironmentVariable
 from tracetools_test.case import TraceTestCase
 from tracetools_trace.tools import tracepoints as tp
 
@@ -35,6 +36,8 @@ def __init__(self, *args) -> None:
             ],
             package='test_tracetools',
             nodes=['test_publisher'],
+            # Need rmw_cyclonedds_cpp for the rmw instrumentation
+            additional_actions=SetEnvironmentVariable('RMW_IMPLEMENTATION', 'rmw_cyclonedds_cpp'),
         )
 
     def test_all(self):

test_tracetools/test/test_subscription.py

@@ -16,6 +16,7 @@
 
 import unittest
 
+from launch.actions import SetEnvironmentVariable
 from tracetools_test.case import TraceTestCase
 from tracetools_trace.tools import tracepoints as tp
 
@@ -41,6 +42,8 @@ def __init__(self, *args) -> None:
             ],
             package='test_tracetools',
             nodes=['test_ping', 'test_pong'],
+            # Need rmw_cyclonedds_cpp for the rmw instrumentation
+            additional_actions=SetEnvironmentVariable('RMW_IMPLEMENTATION', 'rmw_cyclonedds_cpp'),
         )
 
     def test_all(self):

tracetools_test/tracetools_test/case.py

@@ -24,6 +24,7 @@
 from typing import Union
 import unittest
 
+from launch import Action
 from tracetools_read import DictEvent
 from tracetools_read import get_event_name
 from tracetools_read import get_event_timestamp
@@ -59,6 +60,7 @@ def __init__(
         nodes: List[str],
         base_path: str = '/tmp',
         events_kernel: List[str] = [],
+        additional_actions: Union[List[Action], Action] = [],
     ) -> None:
         """Create a TraceTestCase."""
         super().__init__(methodName=args[0])
@@ -68,6 +70,7 @@ def __init__(
         self._events_kernel = events_kernel
         self._package = package
         self._nodes = nodes
+        self._additional_actions = additional_actions
 
     def setUp(self):
         # Get timestamp before trace (ns)
@@ -80,6 +83,7 @@ def setUp(self):
             self._events_kernel,
             self._package,
             self._nodes,
+            self._additional_actions,
         )
 
         print(f'TRACE DIRECTORY: {full_path}')

tracetools_test/tracetools_test/utils.py

@@ -18,7 +18,9 @@
 import shutil
 from typing import List
 from typing import Tuple
+from typing import Union
 
+from launch import Action
 from launch import LaunchDescription
 from launch import LaunchService
 from launch_ros.actions import Node
@@ -35,6 +37,7 @@ def run_and_trace(
     kernel_events: List[str],
     package_name: str,
     node_names: List[str],
+    additional_actions: Union[List[Action], Action] = [],
 ) -> Tuple[int, str]:
     """
     Run a node while tracing.
@@ -45,12 +48,15 @@ def run_and_trace(
     :param kernel_events: the list of kernel events to enable
     :param package_name: the name of the package to use
     :param node_names: the names of the nodes to execute
+    :param additional_actions: the list of additional actions to prepend
     :return: exit code, full generated path
     """
     session_name = append_timestamp(session_name_prefix)
     full_path = os.path.join(base_path, session_name)
+    if not isinstance(additional_actions, list):
+        additional_actions = [additional_actions]
 
-    launch_actions = []
+    launch_actions = additional_actions
     # Add trace action
     launch_actions.append(
         Trace(