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Add multithread ping test
Add multithread test support Fix typo Test CI Set library full path and dependencies Modify client link method Add link_directories Trigger CI Fix include paths Trigger CI Update CMakeLists.txt Fix create bin field Revert cmake change Update participant name
1 parent 19537f8 commit f9396ee

11 files changed

Lines changed: 203 additions & 32 deletions

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‎CMakeLists.txt‎

Lines changed: 41 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -121,6 +121,46 @@ if(UXRCE_ENABLE_CLIENT)
121121
list(APPEND _deps client)
122122
endif()
123123

124+
if(UXRCE_TEST_THREAD)
125+
ExternalProject_Add(client_thread
126+
GIT_REPOSITORY
127+
https://github.com/eProsima/Micro-XRCE-DDS-Client.git
128+
GIT_TAG
129+
${_client_tag}
130+
PREFIX
131+
${PROJECT_BINARY_DIR}/client_thread
132+
INSTALL_DIR
133+
${PROJECT_BINARY_DIR}/temp_install
134+
TEST_AFTER_INSTALL
135+
${_run_tests}
136+
TEST_COMMAND
137+
${_test_command}
138+
CMAKE_CACHE_ARGS
139+
-DLIB_PREFIX:STRING=libthread_
140+
-DUCLIENT_PROFILE_MULTITHREAD:BOOL=ON
141+
-DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
142+
-DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
143+
-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
144+
-DCMAKE_C_FLAGS:STRING=${CMAKE_C_FLAGS}
145+
-DCMAKE_CXX_FLAGS:STRING=${CMAKE_CXX_FLAGS}
146+
-DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
147+
-DCMAKE_SHARED_LINKER_FLAGS:STRING=${CMAKE_SHARED_LINKER_FLAGS}
148+
-DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
149+
-DCMAKE_PREFIX_PATH:PATH=<INSTALL_DIR>
150+
-DBIN_INSTALL_DIR:PATH=${BIN_INSTALL_DIR}
151+
-DINCLUDE_INSTALL_DIR:PATH=${INCLUDE_INSTALL_DIR}_thread
152+
-DLIB_INSTALL_DIR:PATH=${LIB_INSTALL_DIR}
153+
-DDATA_INSTALL_DIR:PATH=${DATA_INSTALL_DIR}
154+
-DUCLIENT_BUILD_EXAMPLES:BOOL=${UXRCE_BUILD_EXAMPLES}
155+
-DUCLIENT_INSTALL_EXAMPLES:BOOL=${UXRCE_BUILD_EXAMPLES}
156+
-DUCLIENT_PIC:BOOL=ON
157+
-DUCLIENT_BUILD_TESTS:BOOL=${UXRCE_BUILD_TESTS}
158+
-DUCLIENT_ISOLATED_INSTALL:BOOL=OFF
159+
-DGTEST_INDIVIDUAL:BOOL=ON
160+
)
161+
list(APPEND _deps client_thread)
162+
endif()
163+
124164
if(UXRCE_ENABLE_AGENT)
125165
ExternalProject_Add(agent
126166
GIT_REPOSITORY
@@ -223,6 +263,7 @@ if(UXRCE_BUILD_TESTS)
223263
TEST_COMMAND
224264
${_test_command}
225265
CMAKE_CACHE_ARGS
266+
-DUXRCE_TEST_THREAD:BOOL=${UXRCE_TEST_THREAD}
226267
-DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
227268
-DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
228269
-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}

‎ci/linux/CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -44,6 +44,7 @@ ExternalProject_Add(microxrcedds
4444
BUILD_COMMAND
4545
""
4646
CMAKE_CACHE_ARGS
47+
-DUXRCE_TEST_THREAD:BOOL=ON
4748
-DCMAKE_CXX_COMPILER:STRING=${CMAKE_CXX_COMPILER}
4849
-DCMAKE_C_COMPILER:STRING=${CMAKE_C_COMPILER}
4950
-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}

‎test/CMakeLists.txt‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -48,3 +48,8 @@ add_subdirectory(test/publisher_subscriber)
4848
add_subdirectory(test/discovery)
4949
add_subdirectory(test/custom_transports)
5050
#add_subdirectory(test/shapes_demo) TODO (julibert): fix client and agent paths.
51+
52+
if(UXRCE_TEST_THREAD)
53+
add_subdirectory(test/multithread)
54+
endif()
55+

‎test/profiling/publisher/main.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -101,7 +101,7 @@ int main(int args, char** argv)
101101
ucdrBuffer ub;
102102
uxr_prepare_output_stream(&session, besteffort_out, datawriter_id, &ub, 4 + strlen(topic));
103103
ucdr_serialize_string(&ub, topic);
104-
104+
UXR_UNLOCK_STREAM_ID(&session, besteffort_out);
105105
printf("Send topic %s, by %d\n", topic, client_key);
106106
connected = uxr_run_session_time(&session, 50);
107107
++count;

‎test/test/client_agent/CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -40,6 +40,7 @@ target_include_directories(client-agent-test
4040
${GTEST_INCLUDE_DIR}
4141
)
4242

43+
link_directories(${PROJECT_BINARY_DIR}/test/interaction_client)
4344
target_link_libraries(client-agent-test
4445
PRIVATE
4546
interaction_client

‎test/test/client_agent/ClientAgentInteraction.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -377,7 +377,7 @@ TEST_P(ClientAgentInteraction, ExistantEntitiesCreationReplaceReuseBINBINReliabl
377377
TEST_P(ClientAgentInteraction, PingFromClientToAgent)
378378
{
379379
const Transport transport_kind(std::get<0>(GetParam()));
380-
ASSERT_NO_FATAL_FAILURE(client_.ping_agent(transport_kind));
380+
ASSERT_NO_FATAL_FAILURE(client_.ping_agent(transport_kind, 1, 1));
381381
}
382382

383383
INSTANTIATE_TEST_CASE_P(

‎test/test/interaction_client/CMakeLists.txt‎

Lines changed: 59 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -28,38 +28,69 @@ set(SRCS
2828
Discovery.cpp
2929
)
3030

31-
add_library(interaction_client STATIC ${SRCS})
31+
list(APPEND libs interaction_client)
32+
find_library(CLIENT microxrcedds_client REQUIRED
33+
HINTS ${PROJECT_BINARY_DIR}/../../../temp_install/lib/libmicroxrcedds_client.a)
3234

33-
set_common_compile_options(interaction_client)
35+
if(UXRCE_TEST_THREAD)
36+
list(APPEND libs interaction_thread_client)
37+
find_library(CLIENT_MULTITHREAD thread_microxrcedds_client REQUIRED
38+
HINTS ${PROJECT_BINARY_DIR}/../../../temp_install/lib/libthread_microxrcedds_client.a)
39+
endif()
3440

35-
if(MSVC OR MSVC_IDE)
36-
target_compile_options(interaction_client
37-
PRIVATE
38-
/wd4996
41+
foreach(lib ${libs})
42+
add_library(${lib} STATIC ${SRCS})
43+
set_common_compile_options(${lib})
44+
45+
if(MSVC OR MSVC_IDE)
46+
target_compile_options(${lib}
47+
PRIVATE
48+
/wd4996
49+
PUBLIC
50+
-D_CRT_SECURE_NO_WARNINGS
51+
)
52+
endif()
53+
54+
if(${lib} STREQUAL interaction_client)
55+
target_include_directories(${lib}
3956
PUBLIC
40-
-D_CRT_SECURE_NO_WARNINGS
57+
${PROJECT_BINARY_DIR}/../../../temp_install/include
58+
${CMAKE_CURRENT_SOURCE_DIR}
59+
${CMAKE_CURRENT_BINARY_DIR}
60+
PRIVATE
61+
${GTEST_INCLUDE_DIRS}
4162
)
42-
endif()
4363

44-
target_include_directories(interaction_client
45-
PUBLIC
46-
${CMAKE_CURRENT_SOURCE_DIR}
47-
${CMAKE_CURRENT_BINARY_DIR}
48-
PRIVATE
49-
${GTEST_INCLUDE_DIRS}
50-
)
64+
target_link_libraries(${lib}
65+
PUBLIC
66+
${CLIENT}
67+
custom_transports
68+
PRIVATE
69+
${GTEST_BOTH_LIBRARIES}
70+
)
71+
elseif(${lib} STREQUAL interaction_thread_client)
72+
target_include_directories(${lib}
73+
PUBLIC
74+
${PROJECT_BINARY_DIR}/../../../temp_install/include_thread
75+
${CMAKE_CURRENT_BINARY_DIR}
76+
${CMAKE_CURRENT_SOURCE_DIR}
77+
PRIVATE
78+
${GTEST_INCLUDE_DIRS}
79+
)
5180

52-
target_link_libraries(interaction_client
53-
PUBLIC
54-
microxrcedds_client
55-
custom_transports
56-
PRIVATE
57-
${GTEST_BOTH_LIBRARIES}
58-
)
81+
target_link_libraries(${lib}
82+
PUBLIC
83+
${CLIENT_MULTITHREAD}
84+
custom_transports
85+
PRIVATE
86+
${GTEST_BOTH_LIBRARIES}
87+
)
88+
endif()
5989

60-
set_target_properties(interaction_client PROPERTIES
61-
CXX_STANDARD
62-
11
63-
CXX_STANDARD_REQUIRED
64-
YES
65-
)
90+
set_target_properties(${lib} PROPERTIES
91+
CXX_STANDARD
92+
11
93+
CXX_STANDARD_REQUIRED
94+
YES
95+
)
96+
endforeach()

‎test/test/interaction_client/Client.hpp‎

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -274,6 +274,11 @@ class Client
274274
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
275275
(void) uxr_run_session_time(&session_, 500);
276276

277+
publish_run(id, stream_id_raw, number, message);
278+
}
279+
280+
void publish_run(uint8_t id, uint8_t stream_id_raw, size_t number, const std::string& message)
281+
{
277282
uxrStreamId output_stream_id = uxr_stream_id_from_raw(stream_id_raw, UXR_OUTPUT_STREAM);
278283
uxrObjectId datawriter_id = uxr_object_id(id, UXR_DATAWRITER_ID);
279284

@@ -297,6 +302,7 @@ class Client
297302
ASSERT_TRUE(written);
298303
ASSERT_FALSE(ub.error);
299304
bool sent = uxr_run_session_until_confirm_delivery(&session_, timeout);
305+
UXR_UNLOCK_STREAM_ID(&session_, output_stream_id);
300306
ASSERT_TRUE(sent);
301307
}
302308
}
@@ -436,7 +442,7 @@ class Client
436442
}
437443

438444
void ping_agent(
439-
const Transport transport_kind)
445+
const Transport transport_kind, size_t number, uint8_t attempts)
440446
{
441447
uxrCommunication* comm(nullptr);
442448

@@ -464,7 +470,12 @@ class Client
464470
FAIL() << "Transport type not supported";
465471
break;
466472
}
467-
ASSERT_TRUE(uxr_ping_agent_attempts(comm, 1000, 1));
473+
474+
for(size_t i = 0; i < number; ++i)
475+
{
476+
ASSERT_TRUE(uxr_ping_agent_attempts(comm, 1000, attempts));
477+
std::cout << "Ping sent: " << i << std::endl;
478+
}
468479
}
469480

470481
protected:

‎test/test/multithread/CMakeLists.txt‎

Lines changed: 47 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,47 @@
1+
# Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
2+
#
3+
# Licensed under the Apache License, Version 2.0 (the "License");
4+
# you may not use this file except in compliance with the License.
5+
# You may obtain a copy of the License at
6+
#
7+
# http://www.apache.org/licenses/LICENSE-2.0
8+
#
9+
# Unless required by applicable law or agreed to in writing, software
10+
# distributed under the License is distributed on an "AS IS" BASIS,
11+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
# See the License for the specific language governing permissions and
13+
# limitations under the License.
14+
15+
cmake_host_system_information(RESULT HOSTNAME_SUFFIX QUERY HOSTNAME)
16+
17+
add_executable(client-thread-test ClientAgentInteractionThread.cpp)
18+
19+
add_gtest(client-thread-test
20+
SOURCES
21+
ClientAgentInteractionThread.cpp
22+
ENVIRONMENTS
23+
$<$<PLATFORM_ID:Linux>:LD_LIBRARY_PATH=${CMAKE_PREFIX_PATH}/lib>
24+
$<$<PLATFORM_ID:Windows>:PATH=${CMAKE_PREFIX_PATH}/bin>
25+
)
26+
27+
target_include_directories(client-thread-test
28+
PRIVATE
29+
${PROJECT_BINARY_DIR}/microxrcedds-build/itests
30+
${GTEST_INCLUDE_DIR}
31+
)
32+
33+
target_link_libraries(client-thread-test
34+
PRIVATE
35+
interaction_thread_client
36+
microxrcedds_agent
37+
${GTEST_BOTH_LIBRARIES}
38+
${CMAKE_THREAD_LIBS_INIT}
39+
)
40+
41+
set_target_properties(client-thread-test PROPERTIES
42+
CXX_STANDARD
43+
11
44+
CXX_STANDARD_REQUIRED
45+
YES
46+
)
47+

‎test/test/multithread/ClientAgentInteractionThread.cpp‎

Lines changed: 33 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,33 @@
1+
#include <gtest/gtest.h>
2+
#include <thread>
3+
4+
#include <Client.hpp>
5+
#include "../client_agent/ClientAgentInteraction.hpp"
6+
7+
class ClientAgentInteractionThread : public ClientAgentInteraction
8+
{
9+
};
10+
11+
TEST_P(ClientAgentInteractionThread, PingFromClientToAgentThread)
12+
{
13+
const Transport transport_kind(std::get<0>(GetParam()));
14+
15+
std::string message("Hello DDS world!");
16+
std::thread ping_thread(&Client::ping_agent, client_, transport_kind, 10, 1);
17+
std::thread publisher_thread(&Client::publish_run, client_, 1, 1, 10, message);
18+
publisher_thread.join();
19+
ping_thread.join();
20+
}
21+
22+
INSTANTIATE_TEST_CASE_P(
23+
Transports,
24+
ClientAgentInteractionThread,
25+
::testing::Combine(
26+
::testing::Values(Transport::UDP_IPV4_TRANSPORT, Transport::TCP_IPV4_TRANSPORT, Transport::UDP_IPV6_TRANSPORT, Transport::TCP_IPV6_TRANSPORT),
27+
::testing::Values(MiddlewareKind::FASTDDS, MiddlewareKind::FASTRTPS, MiddlewareKind::CED)));
28+
29+
int main(int args, char** argv)
30+
{
31+
::testing::InitGoogleTest(&args, argv);
32+
return RUN_ALL_TESTS();
33+
}

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