Enable image_tools tests with synthetic image

image_tools/CMakeLists.txt

@@ -52,26 +52,6 @@ if(BUILD_TESTING)
   set(RCLCPP_DEMO_CAM2IMAGE_EXPECTED_OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/test/cam2image")
 
   macro(testing_targets)
-    set(SKIP_TEST "")
-    if(
-      # TODO(wjwwood): connext and connext_dynamic fail with:
-      #
-      #   COMMENDSrWriterService_write:!write. Reliable large data requires asynchronous writer.
-      #
-      # We can remove this disable for connext when that's fixed.
-      "${rmw_implementation} " STREQUAL "rmw_connext_cpp " OR
-      "${rmw_implementation} " STREQUAL "rmw_connext_dynamic_cpp " OR
-      # TODO(wjwwood): fastrtps fails with:
-      #
-      #   uncaught exception of type std::runtime_error: vector overcomes the maximum length
-      #
-      # We can remove this disable for fastrtps when that's fixed.
-      "${rmw_implementation} " STREQUAL "rmw_fastrtps_cpp "
-    )
-      message(STATUS "Skipping tests for '${rmw_implementation}'")
-      set(SKIP_TEST "SKIP_TEST")
-    endif()
-
     set(RCLCPP_DEMO_CAM2IMAGE_EXECUTABLE $<TARGET_FILE:cam2image>)
     set(RCLCPP_DEMO_SHOWIMAGE_EXECUTABLE $<TARGET_FILE:showimage>)
 
@@ -80,15 +60,17 @@ if(BUILD_TESTING)
       test_showimage_cam2image${target_suffix}.py.genexp
       @ONLY
     )
+
     file(GENERATE
       OUTPUT test_showimage_cam2image${target_suffix}_$<CONFIG>.py
       INPUT test_showimage_cam2image${target_suffix}.py.genexp)
 
     ament_add_nose_test(test_showimage_cam2image${target_suffix}
       "${CMAKE_CURRENT_BINARY_DIR}/test_showimage_cam2image${target_suffix}_$<CONFIG>.py"
-      ENV RMW_IMPLEMENTATION=${rmw_implementation}
-      TIMEOUT 60
-      ${SKIP_TEST}
+      ENV
+      RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
+      RMW_IMPLEMENTATION=${rmw_implementation}
+      TIMEOUT 30
     )
   endmacro()
 

image_tools/src/cam2image.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdio>
 #include <iostream>
 #include <memory>
 #include <string>
@@ -85,6 +86,11 @@ int main(int argc, char * argv[])
   bool burger_mode = false;
   std::string topic("image");
 
+  // Force flush of the stdout buffer.
+  // This ensures a correct sync of all prints
+  // even when executed simultaneously within a launch file.
+  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
   // Configure demo parameters with command line options.
   bool success = parse_command_options(
     argc, argv, &depth, &reliability_policy, &history_policy, &show_camera, &freq, &width, &height,

image_tools/src/showimage.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdio>
 #include <iostream>
 #include <sstream>
 #include <string>
@@ -92,6 +93,11 @@ int main(int argc, char * argv[])
   bool show_camera = true;
   std::string topic("image");
 
+  // Force flush of the stdout buffer.
+  // This ensures a correct sync of all prints
+  // even when executed simultaneously within a launch file.
+  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
   // Configure demo parameters with command line options.
   if (!parse_command_options(
       argc, argv, &depth, &reliability_policy, &history_policy, &show_camera, nullptr, nullptr,

image_tools/test/cam2image.txt

@@ -0,0 +1,2 @@
+Publishing data on topic 'image'
+Publishing image #1

image_tools/test/test_executables_demo.py.in

@@ -15,56 +15,84 @@
 import os
 
 from launch import LaunchDescriptor
-from launch.exit_handler import default_exit_handler
+from launch.exit_handler import ignore_exit_handler
+from launch.exit_handler import primary_ignore_returncode_exit_handler
 from launch.launcher import DefaultLauncher
+from launch.output_handler import ConsoleOutput
 from launch_testing import create_handler
 
 
 def setup():
     os.environ['OSPL_VERBOSITY'] = '8'  # 8 = OS_NONE
 
 
-def test_executable():
-    output_handlers = []
+def test_reliable_qos():
+    pub_executable_args = ['-r', '1', '-s', '0', '-b', '-f', '5']
+    sub_executable_args = ['-r', '1', '-s', '0', '-b']
+    _test_executables(pub_executable_args, sub_executable_args)
+
 
+def _test_executables(publisher_executable_args, subscriber_executable_args):
+    output_handlers = []
     launch_descriptor = LaunchDescriptor()
 
+    rmw_implementation = '@rmw_implementation@'
+    env = dict(os.environ)
+    env['RMW_IMPLEMENTATION'] = rmw_implementation
+
+    # Launch the process that will receive the images.
+    # This is the process that gets to decide when to tear the launcher down.
+    # It will exit when the regex for receiving images is matched.
     showimage_executable = '@RCLCPP_DEMO_SHOWIMAGE_EXECUTABLE@'
     showimage_output_file = '@RCLCPP_DEMO_SHOWIMAGE_EXPECTED_OUTPUT@'
     showimage_name = 'test_showimage'
-    showimage_handler = create_handler(showimage_name, launch_descriptor, showimage_output_file)
+    showimage_handler = create_handler(
+        showimage_name, launch_descriptor, showimage_output_file, exit_on_match=True,
+        filtered_rmw_implementation=rmw_implementation)
     assert showimage_handler, 'Cannot find appropriate handler for %s' % showimage_output_file
     output_handlers.append(showimage_handler)
+
+    command = [showimage_executable]
+    command.extend(subscriber_executable_args)
     launch_descriptor.add_process(
-        cmd=[showimage_executable, '-r', '0', '-s', '0'],
+        cmd=command,
         name=showimage_name,
-        exit_handler=default_exit_handler,
-        output_handlers=[showimage_handler],
+        exit_handler=primary_ignore_returncode_exit_handler,
+        output_handlers=[showimage_handler, ConsoleOutput()],
+        env=env,
     )
 
+    # Launch the process that will publish the images.
+    # This process will be exited when the launcher is torn down.
     cam2image_executable = '@RCLCPP_DEMO_CAM2IMAGE_EXECUTABLE@'
     cam2image_output_file = '@RCLCPP_DEMO_CAM2IMAGE_EXPECTED_OUTPUT@'
     cam2image_name = 'test_cam2image'
-    cam2image_handler = create_handler(cam2image_name, launch_descriptor, cam2image_output_file)
+    cam2image_handler = create_handler(
+        cam2image_name, launch_descriptor, cam2image_output_file, exit_on_match=False,
+        filtered_rmw_implementation=rmw_implementation)
     assert cam2image_handler, 'Cannot find appropriate handler for %s' % cam2image_output_file
     output_handlers.append(cam2image_handler)
+
+    command = [cam2image_executable]
+    command.extend(publisher_executable_args)
     launch_descriptor.add_process(
-        cmd=[cam2image_executable, '-r', '0', '-s', '0', '-b'],
+        cmd=command,
         name=cam2image_name,
-        exit_handler=default_exit_handler,
-        output_handlers=[cam2image_handler],
+        exit_handler=ignore_exit_handler,
+        output_handlers=[cam2image_handler, ConsoleOutput()],
+        env=env,
     )
 
     launcher = DefaultLauncher()
     launcher.add_launch_descriptor(launch_descriptor)
     rc = launcher.launch()
 
     assert rc == 0, \
-        "The launch file failed with exit code '" + str(rc) + "'. " \
-        'Maybe the client did not receive any messages?'
+        "The launch file failed with exit code '" + str(rc) + "'. "
 
+    # Check that the output received by the handlers is what was expected.
     for handler in output_handlers:
         handler.check()
 
 if __name__ == '__main__':
-    test_executable()
+    test_reliable_qos()