Drafting record param test

rosbag2_transport/CMakeLists.txt

@@ -200,6 +200,12 @@ function(create_tests_for_rmw_implementation)
     LINK_LIBS rosbag2_transport
     AMENT_DEPS test_msgs rosbag2_test_common)
 
+  rosbag2_transport_add_gmock(test_record_params
+    test/rosbag2_transport/test_record_params.cpp
+    LINK_LIBS rosbag2_transport
+    AMENT_DEPS test_msgs rosbag2_test_common
+    ${SKIP_TEST})
+
   rosbag2_transport_add_gmock(test_record_all_ignore_leaf_topics
     test/rosbag2_transport/test_record_all_ignore_leaf_topics.cpp
     LINK_LIBS rosbag2_transport

rosbag2_transport/test/resources/params_recorder.yaml

@@ -0,0 +1,31 @@
+recorder_params_node:
+  ros__parameters:
+    all: true
+    is_discovery_disabled: true
+    topics: {"topic", "other_topic"}
+    rmw_serialization_format: "cdr"
+    topic_polling_interval:
+      sec: 0
+      nsec: 10000000
+    regex: "[xyz]/topic"
+    exclude: "*"
+    node_prefix: "prefix"
+    compression_mode: "stream"
+    compression_format: "h264"
+    compression_queue_size: 10
+    compression_threads: 2
+    qos_profile_overrides_path: ""
+    include_hidden_topics: true
+    include_unpublished_topics: true
+    ignore_leaf_topics: false
+    start_paused: false
+    use_sim_time: false
+
+    storage_id: sqlite3
+    config_uri: ""
+    max_bagfile_size: 12345
+    max_bagfile_duration: 54321
+    max_cache_size: 9898
+    preset_profile: "none"
+    snapshot_mode: false
+    custom_data: ["test=true"]

rosbag2_transport/test/rosbag2_transport/mock_recorder.hpp

@@ -32,6 +32,12 @@ class MockRecorder : public rosbag2_transport::Recorder
   : Recorder(writer, storage_options, record_options)
   {}
 
+  explicit MockRecorder(
+    const std::string & node_name = "rosbag2_mock_composable_recorder",
+    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
+  : Recorder(node_name, node_options)
+  {}
+
   template<typename DurationRepT = int64_t, typename DurationT = std::milli>
   bool wait_for_topic_to_be_discovered(
     const std::string & topic_name_to_wait_for,
@@ -65,6 +71,16 @@ class MockRecorder : public rosbag2_transport::Recorder
     }
     return available_for_recording;
   }
+
+  rosbag2_storage::StorageOptions retrieve_storage_options()
+  {
+    return get_storage_options();
+  }
+
+  rosbag2_transport::RecordOptions retrieve_record_options()
+  {
+    return get_record_options();
+  }
 };
 
 #endif  // ROSBAG2_TRANSPORT__MOCK_RECORDER_HPP_

rosbag2_transport/test/rosbag2_transport/test_play_params.cpp

@@ -34,7 +34,7 @@ TEST_F(RosBag2PlayTestFixture, parse_parameter_from_file) {
   opts.arguments(
   {
     "--ros-args",
-    "--params-file", _SRC_RESOURCES_DIR_PATH "/params.yaml"
+    "--params-file", _SRC_RESOURCES_DIR_PATH "/params_player.yaml"
   });
   opts.append_parameter_override(
     "qos_profile_overrides_path",

rosbag2_transport/test/rosbag2_transport/test_record_options.cpp

@@ -49,5 +49,5 @@ TEST(record_options, test_yaml_serialization)
   CHECK(is_discovery_disabled);
   CHECK(topics);
   CHECK(rmw_serialization_format);
-  #undef CMP
+  #undef CHECK
 }

rosbag2_transport/test/rosbag2_transport/test_record_params.cpp

@@ -0,0 +1,73 @@
+// Copyright 2023, Patrick Roncagliolo.
+//
+// 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.
+
+#include <gmock/gmock.h>
+
+#include <chrono>
+#include <future>
+#include <memory>
+#include <string>
+#include <thread>
+#include <vector>
+#include <utility>
+
+#include "rclcpp/rclcpp.hpp"
+#include "mock_recorder.hpp"
+#include "rosbag2_transport_test_fixture.hpp"
+#include "rosbag2_storage/storage_options.hpp"
+#include "rosbag2_transport/record_options.hpp"
+
+TEST_F(Rosbag2TransportTestFixture, parse_parameter_from_file) {
+  // _SRC_RESOURCES_DIR_PATH defined in CMakeLists.txt
+  rclcpp::NodeOptions opts;
+  opts.arguments(
+  {
+    "--ros-args",
+    "--params-file", _SRC_RESOURCES_DIR_PATH "/params_recorder.yaml"
+  });
+  opts.append_parameter_override(
+    "qos_profile_overrides_path",
+    _SRC_RESOURCES_DIR_PATH "/overrides.yaml");
+  opts.append_parameter_override(
+    "uri",
+    _SRC_RESOURCES_DIR_PATH "/sqlite3/test_bag_for_seek");
+
+  auto node = std::make_shared<MockRecorder>("recorder_params_node", opts);
+  auto record_options = node->retrieve_record_options();
+  auto storage_options = node->retrieve_storage_options();
+  YAML::Node yaml_record_opt = YAML::convert<rosbag2_transport::RecordOptions>().encode(record_options);
+  YAML::Node yaml_storage_opt = YAML::convert<rosbag2_storage::StorageOptions>().encode(
+    storage_options);
+
+  auto param_node = YAML::LoadFile(_SRC_RESOURCES_DIR_PATH "/params.yaml");
+
+  YAML::Emitter emitter;
+  emitter 
+  << YAML::Newline << YAML::Comment("params.yaml")
+  << param_node << YAML::Newline
+  << YAML::Newline << YAML::Comment("node record parameters")
+  << yaml_record_opt << YAML::Newline
+  << YAML::Newline << YAML::Comment("node storage parameters")
+  << yaml_storage_opt << YAML::Newline;
+
+  std::cout << emitter.c_str() << std::endl;
+
+  // TODO(roncapat): compare YAML trees (from file vs from struct)
+}
+
+/*
+TEST_F(RosBag2PlayTestFixture, test_negative_durations) {
+// TODO(roncapat): implement
+}
+*/