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Added tests for issue rosjava#272
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See rosjava#272
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@SpyrosKou
SpyrosKou committed Jun 18, 2022
1 parent 7b12f34 commit 6572fe7
Showing 1 changed file with 204 additions and 8 deletions.
212 changes: 204 additions & 8 deletions rosjava/src/test/java/org/ros/node/service/ServiceIntegrationTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,15 +16,19 @@

package org.ros.node.service;

import org.junit.Assert;
import org.junit.Test;
import org.ros.RosTest;
import org.ros.exception.*;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.ServiceClientNode;
import rosjava_test_msgs.AddTwoIntsResponse;

import java.util.concurrent.CountDownLatch;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicInteger;

import static org.junit.Assert.*;

Expand All @@ -34,6 +38,8 @@
public class ServiceIntegrationTest extends RosTest {

private static final String SERVICE_NAME = "/add_two_ints";
private static final String SERVER_NAME = "server";
private static final String CLIENT = "client";

@Test
public void testPesistentServiceConnection() throws Exception {
Expand All @@ -42,7 +48,7 @@ public void testPesistentServiceConnection() throws Exception {
nodeMainExecutor.execute(new AbstractNodeMain() {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("server");
return GraphName.of(SERVER_NAME);
}

@Override
Expand All @@ -54,7 +60,8 @@ public void onStart(final ConnectedNode connectedNode) {
rosjava_test_msgs.AddTwoInts._TYPE,
(request, response) -> response.setSum(request.getA() + request.getB()));
try {
connectedNode.newServiceServer(SERVICE_NAME, rosjava_test_msgs.AddTwoInts._TYPE, null);
connectedNode.newServiceServer(SERVICE_NAME, rosjava_test_msgs.AddTwoInts._TYPE, (a, b) -> {
});
fail();
} catch (DuplicateServiceException e) {
// Only one ServiceServer with a given name can be created.
Expand All @@ -69,7 +76,7 @@ public void onStart(final ConnectedNode connectedNode) {
nodeMainExecutor.execute(new AbstractNodeMain() {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("client");
return GraphName.of(CLIENT);
}

@Override
Expand All @@ -85,12 +92,12 @@ public void onStart(ConnectedNode connectedNode) {
} catch (ServiceNotFoundException e) {
throw new RosRuntimeException(e);
}
final rosjava_test_msgs.AddTwoIntsRequest request = serviceClient.newMessage();
final rosjava_test_msgs.AddTwoIntsRequest request = serviceClient.newMessage();
{
// final rosjava_test_msgs.AddTwoIntsRequest request = serviceClient.newMessage();
request.setA(2);
request.setB(2);
serviceClient.call(request, new ServiceResponseListener<rosjava_test_msgs.AddTwoIntsResponse>() {
serviceClient.call(request, new ServiceResponseListener<>() {
@Override
public void onSuccess(rosjava_test_msgs.AddTwoIntsResponse response) {
assertEquals(response.getSum(), 4);
Expand All @@ -108,7 +115,7 @@ public void onFailure(RemoteException e) {
// final rosjava_test_msgs.AddTwoIntsRequest request = serviceClient.newMessage();
request.setA(3);
request.setB(3);
serviceClient.call(request, new ServiceResponseListener<rosjava_test_msgs.AddTwoIntsResponse>() {
serviceClient.call(request, new ServiceResponseListener<>() {
@Override
public void onSuccess(rosjava_test_msgs.AddTwoIntsResponse response) {
assertEquals(response.getSum(), 6);
Expand All @@ -127,6 +134,195 @@ public void onFailure(RemoteException e) {
assertTrue(latch.await(1, TimeUnit.SECONDS));
}

/**
* Test the behaviour discussed in https://github.com/rosjava/rosjava_core/issues/272
* Creating two service servers with the same name from the same nodes is prevented with a {@link DuplicateServiceException}
*
* See also this comment https://github.com/rosjava/rosjava_core/issues/272#issuecomment-1159455438
* @throws Exception
*/
@Test
public void testMultipleServiceDeclarationSameNode() throws Exception {
final AtomicInteger dualServiceDeclarationDetected = new AtomicInteger(0);
final CountDownServiceServerListener<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> countDownServiceServerListener =
CountDownServiceServerListener.newFromCounts(1, 0, 0, 2);

final AbstractNodeMain node = new AbstractNodeMain() {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of(SERVER_NAME);
}

@Override
public void onStart(final ConnectedNode connectedNode) {

try {
final ServiceServer<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> serviceServer1 =
connectedNode.newServiceServer(
SERVICE_NAME,
rosjava_test_msgs.AddTwoInts._TYPE,
(request, response) -> response.setSum(request.getA() + request.getB()));
serviceServer1.addListener(countDownServiceServerListener);
} catch (DuplicateServiceException e) {
// Only one ServiceServer with a given name can be created.
dualServiceDeclarationDetected.incrementAndGet();
}
try {
final ServiceServer<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> serviceServer1 =
connectedNode.newServiceServer(
SERVICE_NAME,
rosjava_test_msgs.AddTwoInts._TYPE,
(request, response) -> response.setSum(request.getA() + request.getB()));
serviceServer1.addListener(countDownServiceServerListener);
} catch (DuplicateServiceException e) {
// Only one ServiceServer with a given name can be created.
dualServiceDeclarationDetected.incrementAndGet();
}


}
};
this.nodeMainExecutor.execute(node, nodeConfiguration);

assertTrue(countDownServiceServerListener.awaitMasterRegistrationSuccess(2, TimeUnit.SECONDS));
if (dualServiceDeclarationDetected.get() != 1) {
fail("Dual registration not detected");
}

}


/**
* Test the behaviour discussed in https://github.com/rosjava/rosjava_core/issues/272
* Creating two service servers with the same name from two different nodes results in the first service server being called even from new clients.
*
* See also this comment https://github.com/rosjava/rosjava_core/issues/272#issuecomment-1159455438
* @throws Exception
*/
@Test
public void testMultipleServiceDeclarationDifferentNodes() throws Exception {
final CountDownLatch clientsCompleted = new CountDownLatch(4);
final CountDownLatch server1started=new CountDownLatch(1);
final CountDownLatch server2started=new CountDownLatch(1);
final CountDownServiceServerListener<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> countDownServiceServerListener =
CountDownServiceServerListener.newFromCounts(1, 0, 0, 2);

final AbstractNodeMain node1 = new AbstractNodeMain() {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of(SERVER_NAME + 1);
}

@Override
public void onStart(final ConnectedNode connectedNode) {
try {
final ServiceServer<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> serviceServer1 =
connectedNode.newServiceServer(
SERVICE_NAME,
rosjava_test_msgs.AddTwoInts._TYPE,
(request, response) -> response.setSum(1));
serviceServer1.addListener(countDownServiceServerListener);
} catch (DuplicateServiceException e) {
// Only one ServiceServer with a given name can be created.

}
server1started.countDown();
}


};
this.nodeMainExecutor.execute(node1, nodeConfiguration);
server1started.await();
final ServiceClientNode<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> client1 = new ServiceClientNode<>(SERVER_NAME + CLIENT + 1, SERVICE_NAME, rosjava_test_msgs.AddTwoInts._TYPE);

this.nodeMainExecutor.execute(client1, nodeConfiguration);
client1.awaitConnection();
client1.getServiceClient().call(client1.getServiceClient().newMessage(), new ServiceResponseListener<>() {
@Override
public void onSuccess(AddTwoIntsResponse response) {
Assert.assertEquals(response.getSum(), 1);
clientsCompleted.countDown();
}

@Override
public void onFailure(RemoteException e) {

}
});


final AbstractNodeMain node2 = new AbstractNodeMain() {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of(SERVER_NAME + 2);
}

@Override
public void onStart(final ConnectedNode connectedNode) {

try {
final ServiceServer<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> serviceServer1 =
connectedNode.newServiceServer(
SERVICE_NAME,
rosjava_test_msgs.AddTwoInts._TYPE,
(request, response) -> response.setSum(2));
serviceServer1.addListener(countDownServiceServerListener);
} catch (DuplicateServiceException e) {
// Only one ServiceServer with a given name can be created.

}
server2started.countDown();
}
};

this.nodeMainExecutor.execute(node2, nodeConfiguration);
server2started.await();
client1.getServiceClient().call(client1.getServiceClient().newMessage(), new ServiceResponseListener<>() {
@Override
public void onSuccess(AddTwoIntsResponse response) {
Assert.assertEquals(response.getSum(), 1);
clientsCompleted.countDown();
}

@Override
public void onFailure(RemoteException e) {

}
});


final ServiceClientNode<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> client2 = new ServiceClientNode<>(SERVER_NAME + CLIENT + 2, SERVICE_NAME, rosjava_test_msgs.AddTwoInts._TYPE);

this.nodeMainExecutor.execute(client2, nodeConfiguration);
client2.awaitConnection();
client2.getServiceClient().call(client2.getServiceClient().newMessage(), new ServiceResponseListener<>() {
@Override
public void onSuccess(AddTwoIntsResponse response) {
Assert.assertEquals(response.getSum(), 2);
clientsCompleted.countDown();
}

@Override
public void onFailure(RemoteException e) {

}
});
client1.getServiceClient().call(client1.getServiceClient().newMessage(), new ServiceResponseListener<>() {
@Override
public void onSuccess(AddTwoIntsResponse response) {
Assert.assertEquals(response.getSum(), 1);
clientsCompleted.countDown();
}

@Override
public void onFailure(RemoteException e) {

}
});
clientsCompleted.await();
}


@Test
public void testRequestFailure() throws Exception {
final String errorMessage = "Error!";
Expand All @@ -135,7 +331,7 @@ public void testRequestFailure() throws Exception {
nodeMainExecutor.execute(new AbstractNodeMain() {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("server");
return GraphName.of(SERVER_NAME);
}

@Override
Expand All @@ -158,7 +354,7 @@ public void onStart(ConnectedNode connectedNode) {
nodeMainExecutor.execute(new AbstractNodeMain() {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("client");
return GraphName.of(CLIENT);
}

@Override
Expand Down

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