Feature: Fast DDS ROS2_EASY_MODE tests (#112)

* Refs #22106: Update test with new CLI params Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22106: Add test for AUTO mode Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22518: Adapt tests to new daemon Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22518: Fix supbrocesses termination and replace shutdown Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22518: Increase test_85 margins Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22623: Regression test for TCP reconnection Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22627: Refactor to EASY_MODE Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22627: Use UDP for discovery purposes Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> * Refs #22627: ROS2_EASY_MODE Signed-off-by: cferreiragonz <carlosferreira@eprosima.com> --------- Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
eProsima · Jan 23, 2025 · e092959 · e092959
1 parent 50938b2
commit e092959
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Showing 22 changed files with 2,150 additions and 7 deletions.
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
@@ -100,7 +100,7 @@ jobs:
       - name: Install Python dependencies
         uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
         with:
-          packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2
+          packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2 psutil
           upgrade: false
 
       - name: Setup CCache
@@ -185,7 +185,7 @@ jobs:
       - name: Install Python dependencies
         uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
         with:
-          packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2
+          packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2 psutil
           upgrade: false
 
       - name: Setup CCache

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -101,6 +101,15 @@ list(APPEND TEST_LIST
         test_60_disconnection
         test_61_superclient_environment_variable
 
+        test_80_auto
+        test_81_auto_ros_domain_id_env_var
+        test_82_auto_ros_static_peers_env_var
+        test_83_start
+        test_84_add
+        test_85_set_add_stop
+        test_86_stop_all_servers
+
+        test_93_tcp_reconnect_with_clients
         test_94_tcpv4_custom_guid_transform_locators
         test_95_tcpv4_cli
         test_96_tcpv6_cli
@@ -145,6 +154,12 @@ set(TEST_CASE_LIST)
 set(FAIL_TEST_CASES)
 
 # For each test case, create different executables for each configuration
+find_program(FASTDDS_PYTHON_EXECUTABLE fastdds PATHS ${CMAKE_INSTALL_PREFIX}/bin)
+if(FASTDDS_PYTHON_EXECUTABLE)
+    message(STATUS "Found Fast DDS CLI executable at: ${FASTDDS_PYTHON_EXECUTABLE}")
+else()
+    message(WARNING "Fast DDS CLI Executable not found!")
+endif()
 foreach(TEST IN LISTS TEST_LIST)
 
     unset(TEST_NAME)
@@ -155,7 +170,7 @@ foreach(TEST IN LISTS TEST_LIST)
         COMMAND ${PYTHON_EXECUTABLE} ${RUN_TEST}
         -e $<TARGET_FILE:${PROJECT_NAME}>
         -p ${TESTS_PARAMS}
-        -f $<$<TARGET_EXISTS:fastdds::fast-discovery-server>:$<TARGET_FILE:fastdds::fast-discovery-server>>
+        -f ${FASTDDS_PYTHON_EXECUTABLE}
         -t ${TEST}
         -s true
         -i false) # Remove this argument to execute test with and without intraprocess
@@ -176,7 +191,7 @@ foreach(TEST IN LISTS TEST_LIST)
         COMMAND ${PYTHON_EXECUTABLE} ${RUN_TEST}
         -e $<TARGET_FILE:${PROJECT_NAME}>
         -p ${TESTS_PARAMS}
-        -f $<$<TARGET_EXISTS:fastdds::fast-discovery-server>:$<TARGET_FILE:fastdds::fast-discovery-server>>
+        -f ${FASTDDS_PYTHON_EXECUTABLE}
         -t ${TEST}
         -s false
         -i false) # Remove this argument to execute test with and without intraprocess

diff --git a/test/configuration/test_cases/test_80_auto.xml b/test/configuration/test_cases/test_80_auto.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<DS xmlns="http://www.eprosima.com/XMLSchemas/discovery-server" user_shutdown="false">
+
+    <!-- S1 is created with Fast DDS CLI tool in ROS2_EASY_MODE.
+         Default domain is used (0).
+         Clients must know their matching participants:
+         S1: C1 & C2
+         C1: C2 & S1
+         C2: C1 & S1
+         Note that in ROS2_EASY_MODE all clients are Superclients-->
+
+    <simples>
+        <simple name="client1">
+            <publisher topic="topic1"/>
+        </simple>
+        <simple name="client2">
+            <subscriber topic="topic1"/>
+        </simple>
+    </simples>
+
+    <snapshots file="./test_80_auto.snapshot~">
+        <snapshot time="5">test_80_auto_snapshot</snapshot>
+    </snapshots>
+
+    <profiles>
+        <topic profile_name="topic1">
+            <name>topic_1</name>
+            <dataType>HelloWorld</dataType>
+        </topic>
+
+     </profiles>
+</DS>
diff --git a/test/configuration/test_cases/test_81_auto_ros_domain_id_env_var.xml b/test/configuration/test_cases/test_81_auto_ros_domain_id_env_var.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<DS xmlns="http://www.eprosima.com/XMLSchemas/discovery-server" user_shutdown="false">
+
+    <!-- S1 is created with Fast DDS CLI tool in ROS2_EASY_MODE.
+         Domain ID is given to the tool using the environment variable.
+         Clients must know their matching participants:
+         S1: C1 & C2
+         C1: C2 & S1
+         C2: C1 & S1
+         Note that in ROS2_EASY_MODE all clients are Superclients-->
+
+    <simples>
+        <simple name="client1">
+            <publisher topic="topic1"/>
+        </simple>
+        <simple name="client2">
+            <subscriber topic="topic1"/>
+        </simple>
+    </simples>
+
+    <snapshots file="./test_81_auto_ros_domain_id_env_var.snapshot~">
+        <snapshot time="5">test_81_auto_ros_domain_id_env_var</snapshot>
+    </snapshots>
+
+    <profiles>
+        <topic profile_name="topic1">
+            <name>topic_1</name>
+            <dataType>HelloWorld</dataType>
+        </topic>
+     </profiles>
+</DS>
diff --git a/test/configuration/test_cases/test_82_auto_ros_static_peers_env_var.xml b/test/configuration/test_cases/test_82_auto_ros_static_peers_env_var.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="utf-8"?>
+<DS xmlns="http://www.eprosima.com/XMLSchemas/discovery-server" user_shutdown="false">
+
+    <!-- Servers are created with Fast DDS CLI tool in ROS2_EASY_MODE.
+         S2 uses the ROS_STATIC_PEERS environment variable to point to S1.
+         Clients must know their matching participants:
+         S1: C1 & S2
+         S2: C2 & S1
+         C1: C2 & S1
+         C2: C1 & S2
+         Note that in ROS2_EASY_MODE all clients are Superclients-->
+
+    <clients>
+        <client name="client1_S1" profile_name="client1_S1" listening_port="0">
+            <publisher topic="topic1"/>
+        </client>
+        <client name="client1_S2" profile_name="client1_S2" listening_port="0">
+            <subscriber topic="topic1"/>
+        </client>
+    </clients>
+
+    <snapshots file="./test_82_auto_ros_static_peers_env_var.snapshot~">
+        <snapshot time="5">test_82_auto_ros_static_peers_env_var</snapshot>
+    </snapshots>
+
+    <profiles>
+        <participant profile_name="client1_S1" >
+            <rtps>
+                <prefix>63.6c.69.65.6e.74.31.5f.73.31.5f.5f</prefix>
+                <builtin>
+                    <discovery_config>
+                        <discoveryProtocol>CLIENT</discoveryProtocol>
+                        <discoveryServersList>
+                            <locator>
+                                <udpv4>
+                                    <address>127.0.0.1</address>
+                                    <port>7402</port>
+                                </udpv4>
+                            </locator>
+                        </discoveryServersList>
+                        <initialAnnouncements>
+                            <count>0</count>
+                        </initialAnnouncements>
+                        <leaseAnnouncement>DURATION_INFINITY</leaseAnnouncement>
+                        <leaseDuration>DURATION_INFINITY</leaseDuration>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+
+        <participant profile_name="client1_S2" >
+            <rtps>
+                <prefix>63.6c.69.65.6e.74.32.5f.73.31.5f.5f</prefix>
+                <builtin>
+                    <discovery_config>
+                        <discoveryProtocol>CLIENT</discoveryProtocol>
+                        <discoveryServersList>
+                            <locator>
+                                <udpv4>
+                                    <address>127.0.0.1</address>
+                                    <port>8152</port>
+                                </udpv4>
+                            </locator>
+                        </discoveryServersList>
+                        <initialAnnouncements>
+                            <count>0</count>
+                        </initialAnnouncements>
+                        <leaseAnnouncement>DURATION_INFINITY</leaseAnnouncement>
+                        <leaseDuration>DURATION_INFINITY</leaseDuration>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+
+        <topic profile_name="topic1">
+            <name>topic_1</name>
+            <dataType>HelloWorld</dataType>
+        </topic>
+     </profiles>
+</DS>
diff --git a/test/configuration/test_cases/test_83_start.xml b/test/configuration/test_cases/test_83_start.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="utf-8"?>
+<DS xmlns="http://www.eprosima.com/XMLSchemas/discovery-server" user_shutdown="false">
+
+    <!-- S1 is created with Fast DDS CLI tool in ROS2_EASY_MODE.
+         S2 is created using the START keyword to point to S1.
+         Clients must know their matching participants:
+         S1: C1 & S2
+         S2: C2 & S1
+         C1: C2 & S1
+         C2: C1 & S2
+         Note that in ROS2_EASY_MODE all clients are Superclients-->
+
+    <clients>
+        <client name="client1_S1" profile_name="client1_S1" listening_port="0">
+            <publisher topic="topic1"/>
+        </client>
+        <client name="client1_S2" profile_name="client1_S2" listening_port="0">
+            <subscriber topic="topic1"/>
+        </client>
+    </clients>
+
+    <snapshots file="./test_83_start.snapshot~">
+        <snapshot time="5">test_83_start</snapshot>
+    </snapshots>
+
+    <profiles>
+        <participant profile_name="client1_S1" >
+            <rtps>
+                <prefix>63.6c.69.65.6e.74.31.5f.73.31.5f.5f</prefix>
+                <builtin>
+                    <discovery_config>
+                        <discoveryProtocol>CLIENT</discoveryProtocol>
+                        <discoveryServersList>
+                            <locator>
+                                <udpv4>
+                                    <address>127.0.0.1</address>
+                                    <port>7402</port>
+                                </udpv4>
+                            </locator>
+                        </discoveryServersList>
+                        <initialAnnouncements>
+                            <count>0</count>
+                        </initialAnnouncements>
+                        <leaseAnnouncement>DURATION_INFINITY</leaseAnnouncement>
+                        <leaseDuration>DURATION_INFINITY</leaseDuration>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+
+        <participant profile_name="client1_S2" >
+            <rtps>
+                <prefix>63.6c.69.65.6e.74.32.5f.73.31.5f.5f</prefix>
+                <builtin>
+                    <discovery_config>
+                        <discoveryProtocol>CLIENT</discoveryProtocol>
+                        <discoveryServersList>
+                            <locator>
+                                <udpv4>
+                                    <address>127.0.0.1</address>
+                                    <port>8152</port>
+                                </udpv4>
+                            </locator>
+                        </discoveryServersList>
+                        <initialAnnouncements>
+                            <count>0</count>
+                        </initialAnnouncements>
+                        <leaseAnnouncement>DURATION_INFINITY</leaseAnnouncement>
+                        <leaseDuration>DURATION_INFINITY</leaseDuration>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+
+        <topic profile_name="topic1">
+            <name>topic_1</name>
+            <dataType>HelloWorld</dataType>
+        </topic>
+     </profiles>
+</DS>
diff --git a/test/configuration/test_cases/test_84_add.xml b/test/configuration/test_cases/test_84_add.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="utf-8"?>
+<DS xmlns="http://www.eprosima.com/XMLSchemas/discovery-server" user_shutdown="false">
+
+    <!-- Servers are created with Fast DDS CLI tool in ROS2_EASY_MODE.
+         Then, the Fast DDS CLI tool is called with the ADD keyword to make S2 point to S1.
+         Clients must know their matching participants:
+         S1: C1 & S2
+         S2: C2 & S1
+         C1: C2 & S1
+         C2: C1 & S2
+         Note that in ROS2_EASY_MODE all clients are Superclients-->
+
+    <clients>
+        <client name="client1_S1" profile_name="client1_S1" listening_port="0">
+            <publisher topic="topic1"/>
+        </client>
+        <client name="client1_S2" profile_name="client1_S2" listening_port="0">
+            <subscriber topic="topic1"/>
+        </client>
+    </clients>
+
+    <snapshots file="./test_84_add.snapshot~">
+        <snapshot time="5">test_84_add</snapshot>
+    </snapshots>
+
+    <profiles>
+        <participant profile_name="client1_S1" >
+            <rtps>
+                <prefix>63.6c.69.65.6e.74.31.5f.73.31.5f.5f</prefix>
+                <builtin>
+                    <discovery_config>
+                        <discoveryProtocol>CLIENT</discoveryProtocol>
+                        <discoveryServersList>
+                            <locator>
+                                <udpv4>
+                                    <address>127.0.0.1</address>
+                                    <port>7402</port>
+                                </udpv4>
+                            </locator>
+                        </discoveryServersList>
+                        <initialAnnouncements>
+                            <count>0</count>
+                        </initialAnnouncements>
+                        <leaseAnnouncement>DURATION_INFINITY</leaseAnnouncement>
+                        <leaseDuration>DURATION_INFINITY</leaseDuration>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+
+        <participant profile_name="client1_S2" >
+            <rtps>
+                <prefix>63.6c.69.65.6e.74.32.5f.73.31.5f.5f</prefix>
+                <builtin>
+                    <discovery_config>
+                        <discoveryProtocol>CLIENT</discoveryProtocol>
+                        <discoveryServersList>
+                            <locator>
+                                <udpv4>
+                                    <address>127.0.0.1</address>
+                                    <port>8152</port>
+                                </udpv4>
+                            </locator>
+                        </discoveryServersList>
+                        <initialAnnouncements>
+                            <count>0</count>
+                        </initialAnnouncements>
+                        <leaseAnnouncement>DURATION_INFINITY</leaseAnnouncement>
+                        <leaseDuration>DURATION_INFINITY</leaseDuration>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+
+        <topic profile_name="topic1">
+            <name>topic_1</name>
+            <dataType>HelloWorld</dataType>
+        </topic>
+     </profiles>
+</DS>