msg: add message translation node for ROS

2026-05-15 16:47:37 +08:00 · 2024-10-29 14:50:08 +01:00
parent 975ec30c9c
commit f6bfa9812e
32 changed files with 3200 additions and 0 deletions
@@ -0,0 +1,215 @@
+/****************************************************************************
+ * Copyright (c) 2024 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <src/monitor.h>
+#include <src/service_graph.h>
+#include <src/translation_util.h>
+
+#include <translation_node/srv/test_v0.hpp>
+#include <translation_node/srv/test_v1.hpp>
+#include <translation_node/srv/test_v2.hpp>
+
+using namespace std::chrono_literals;
+
+
+class ServiceTest : public testing::Test
+{
+protected:
+	void SetUp() override
+	{
+		_test_node = std::make_shared<rclcpp::Node>("test_node");
+		_app_node = std::make_shared<rclcpp::Node>("app_node");
+		_executor.add_node(_test_node);
+		_executor.add_node(_app_node);
+
+		for (auto& node : {_app_node, _test_node}) {
+			auto ret = rcutils_logging_set_logger_level(
+					node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
+			if (ret != RCUTILS_RET_OK) {
+				RCLCPP_ERROR(
+						node->get_logger(), "Error setting severity: %s",
+						rcutils_get_error_string().str);
+				rcutils_reset_error();
+			}
+		}
+	}
+
+	bool spinWithTimeout(const std::function<bool(void)>& predicate) {
+		const auto start = _app_node->now();
+		while (_app_node->now() - start < 5s) {
+			_executor.spin_some();
+			if (predicate()) {
+				return true;
+			}
+		}
+		return false;
+	}
+
+	std::shared_ptr<rclcpp::Node> _test_node;
+	std::shared_ptr<rclcpp::Node> _app_node;
+	rclcpp::executors::SingleThreadedExecutor _executor;
+};
+
+class RegisteredTranslationsTest : public RegisteredTranslations {
+public:
+	RegisteredTranslationsTest() = default;
+};
+
+
+class ServiceTestV0V1 {
+public:
+	using MessageOlder = translation_node::srv::TestV0;
+	using MessageNewer = translation_node::srv::TestV1;
+
+	static constexpr const char* kTopic = "test/service";
+
+	static void fromOlder(const MessageOlder::Request &msg_older, MessageNewer::Request &msg_newer) {
+		msg_newer.request_a = msg_older.request_a;
+	}
+
+	static void toOlder(const MessageNewer::Request &msg_newer, MessageOlder::Request &msg_older) {
+		msg_older.request_a = msg_newer.request_a;
+	}
+
+	static void fromOlder(const MessageOlder::Response &msg_older, MessageNewer::Response &msg_newer) {
+		msg_newer.response_a = msg_older.response_a;
+	}
+
+	static void toOlder(const MessageNewer::Response &msg_newer, MessageOlder::Response &msg_older) {
+		msg_older.response_a = msg_newer.response_a;
+	}
+};
+
+class ServiceTestV1V2 {
+public:
+	using MessageOlder = translation_node::srv::TestV1;
+	using MessageNewer = translation_node::srv::TestV2;
+
+	static constexpr const char* kTopic = "test/service";
+
+	static void fromOlder(const MessageOlder::Request &msg_older, MessageNewer::Request &msg_newer) {
+		msg_newer.request_a = msg_older.request_a;
+		msg_newer.request_b = 1234;
+	}
+
+	static void toOlder(const MessageNewer::Request &msg_newer, MessageOlder::Request &msg_older) {
+		msg_older.request_a = msg_newer.request_a + msg_newer.request_b;
+	}
+
+	static void fromOlder(const MessageOlder::Response &msg_older, MessageNewer::Response &msg_newer) {
+		msg_newer.response_a = msg_older.response_a;
+		msg_newer.response_b = 32;
+	}
+
+	static void toOlder(const MessageNewer::Response &msg_newer, MessageOlder::Response &msg_older) {
+		msg_older.response_a = msg_newer.response_a + msg_newer.response_b;
+	}
+};
+
+
+TEST_F(ServiceTest, Test)
+{
+	RegisteredTranslationsTest registered_translations;
+	registered_translations.registerServiceDirectTranslation<ServiceTestV0V1>();
+	registered_translations.registerServiceDirectTranslation<ServiceTestV1V2>();
+
+	ServiceGraph graph(*_test_node, registered_translations.serviceTranslations());
+	Monitor monitor(*_test_node, nullptr, &graph);
+
+	const std::string topic_name = ServiceTestV1V2::kTopic;
+	const std::string topic_name_v0 = getVersionedTopicName(topic_name, ServiceTestV0V1::MessageOlder::Request::MESSAGE_VERSION);
+	const std::string topic_name_v1 = getVersionedTopicName(topic_name, ServiceTestV0V1::MessageNewer::Request::MESSAGE_VERSION);
+	const std::string topic_name_v2 = getVersionedTopicName(topic_name, ServiceTestV1V2::MessageNewer::Request::MESSAGE_VERSION);
+
+
+	// Create service + clients
+	int num_service_requests = 0;
+	auto service = _app_node->create_service<ServiceTestV0V1::MessageOlder>(topic_name_v0, [&num_service_requests](
+			const ServiceTestV0V1::MessageOlder::Request::SharedPtr request, ServiceTestV0V1::MessageOlder::Response::SharedPtr response) {
+		response->response_a = request->request_a + 1;
+		++num_service_requests;
+	});
+	auto client0 = _app_node->create_client<ServiceTestV0V1::MessageOlder>(topic_name_v0);
+	auto client1 = _app_node->create_client<ServiceTestV0V1::MessageNewer>(topic_name_v1);
+	auto client2 = _app_node->create_client<ServiceTestV1V2::MessageNewer>(topic_name_v2);
+
+	monitor.updateNow();
+
+	// Wait until there is a service for each client
+	ASSERT_TRUE(spinWithTimeout([&client0, &client1, &client2]() {
+		return client0->service_is_ready() && client1->service_is_ready() && client2->service_is_ready();
+	})) << "Timeout, no service for clients found: " << client0->service_is_ready() << client1->service_is_ready() << client2->service_is_ready();
+
+
+
+	// Make some requests
+	int expected_num_service_requests = 1;
+
+	// Client 1
+	for (int i = 0; i < 10; ++i) {
+		auto request = std::make_shared<ServiceTestV0V1::MessageNewer::Request>();
+		ServiceTestV0V1::MessageNewer::Response response;
+		request->request_a = i;
+		bool got_response = false;
+		client1->async_send_request(request, [&got_response, &response](rclcpp::Client<ServiceTestV0V1::MessageNewer>::SharedFuture result) {
+			got_response = true;
+			response = *result.get();
+		});
+
+		ASSERT_TRUE(spinWithTimeout([&got_response]() {
+			return got_response;
+		})) << "Timeout, reply not received, i=" << i;
+
+		// Check data
+		EXPECT_EQ(response.response_a, i + 1);
+		EXPECT_EQ(num_service_requests, expected_num_service_requests);
+		++expected_num_service_requests;
+	}
+
+	// Client 0
+	for (int i = 0; i < 10; ++i) {
+		auto request = std::make_shared<ServiceTestV0V1::MessageOlder::Request>();
+		ServiceTestV0V1::MessageOlder::Response response;
+		request->request_a = i * 10;
+		bool got_response = false;
+		client0->async_send_request(request, [&got_response, &response](rclcpp::Client<ServiceTestV0V1::MessageOlder>::SharedFuture result) {
+			got_response = true;
+			response = *result.get();
+		});
+
+		ASSERT_TRUE(spinWithTimeout([&got_response]() {
+			return got_response;
+		})) << "Timeout, reply not received, i=" << i;
+
+		// Check data
+		EXPECT_EQ(response.response_a, i * 10 + 1);
+		EXPECT_EQ(num_service_requests, expected_num_service_requests);
+		++expected_num_service_requests;
+	}
+
+	// Client 2
+	for (int i = 0; i < 10; ++i) {
+		auto request = std::make_shared<ServiceTestV1V2::MessageNewer::Request>();
+		ServiceTestV1V2::MessageNewer::Response response;
+		request->request_a = i * 10;
+		request->request_b = i;
+		bool got_response = false;
+		client2->async_send_request(request, [&got_response, &response](rclcpp::Client<ServiceTestV1V2::MessageNewer>::SharedFuture result) {
+			got_response = true;
+			response = *result.get();
+		});
+
+		ASSERT_TRUE(spinWithTimeout([&got_response]() {
+			return got_response;
+		})) << "Timeout, reply not received, i=" << i;
+
+		// Check data
+		EXPECT_EQ(response.response_a, i + i * 10 + 1);
+		EXPECT_EQ(response.response_b, 32);
+		EXPECT_EQ(num_service_requests, expected_num_service_requests);
+		++expected_num_service_requests;
+	}
+}