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Strip replaying methods from McapFileReadTest & McapFileReadWithTypeTest
Signed-off-by: tempate <[email protected]>
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| // Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include <chrono> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <thread> | ||
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| #include <gtest/gtest.h> | ||
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| #include <fastdds/dds/domain/DomainParticipantListener.hpp> | ||
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| #include <cpp_utils/testing/gtest_aux.hpp> | ||
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| #include <ddsrecorder_yaml/recorder/YamlReaderConfiguration.hpp> | ||
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| #include <tool/DdsReplayer.hpp> | ||
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| #include "../resources/constants.hpp" | ||
| #include "../resources/dds/DataToCheck.hpp" | ||
| #include "../resources/dds/HelloWorldDynTypesSubscriber.h" | ||
| #include "../resources/dds/HelloWorldSubscriber.h" | ||
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| using namespace eprosima; | ||
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| class FileReadTest : public testing::Test | ||
| { | ||
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| protected: | ||
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| /** | ||
| * The order in which objects are created is relevant; | ||
| * if the replayer was created before the subscriber, | ||
| * a segmentation fault may occur as the dynamic type | ||
| * could be received by the subscriber's participant | ||
| * before the DDS subscriber is created (which is required | ||
| * for creating a DataReader with the received type). | ||
| */ | ||
| DataToCheck replay_( | ||
| const std::string& configuration_path, | ||
| const std::string& input_file, | ||
| bool publish_types = false, | ||
| bool is_ros2_topic = false) | ||
| { | ||
| DataToCheck data; | ||
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| // Create Subscriber | ||
| std::unique_ptr<fastdds::dds::DomainParticipantListener> subscriber; | ||
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| const auto topic_name = is_ros2_topic ? test::ROS2_TOPIC_NAME : test::DDS_TOPIC_NAME; | ||
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| if (publish_types) | ||
| { | ||
| subscriber = std::make_unique<HelloWorldDynTypesSubscriber>(topic_name, test::DOMAIN, data); | ||
| } | ||
| else | ||
| { | ||
| subscriber = std::make_unique<HelloWorldSubscriber>(topic_name, test::DOMAIN, data); | ||
| } | ||
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| // Configuration | ||
| ddsrecorder::yaml::ReplayerConfiguration configuration(configuration_path); | ||
| configuration.replayer_configuration->domain.domain_id = test::DOMAIN; | ||
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| // Create replayer instance | ||
| auto replayer = std::make_unique<ddsrecorder::replayer::DdsReplayer>(configuration, input_file); | ||
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| // Give time for replayer and subscriber to match. | ||
| // Waiting for the subscriber to match the replayer | ||
| // before starting to replay messages does not ensure | ||
| // that no samples will be lost (even if using reliable QoS). | ||
| // This is because endpoint matching does not occur | ||
| // at the same exact moment in both ends of communication, | ||
| // so the replayer's writer might have not yet matched the | ||
| // subscriber even if the latter already has (matched the writer). | ||
| // Transient local QoS would be a solution for this, | ||
| // but it is not used as it might pollute frequency arrival | ||
| // measurements. | ||
| std::this_thread::sleep_for(std::chrono::seconds(1)); | ||
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| // Start replaying data | ||
| replayer->process_file(); | ||
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| replayer->stop(); | ||
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| // Replayer waits on destruction a maximum of wait-all-acked-timeout | ||
| // ms until all sent msgs are acknowledged | ||
| return data; | ||
| } | ||
| }; |
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