WaitForTopics: get content of messages for each topic (backport #353)…

… (#389)

* `WaitForTopics`: get content of messages for each topic (#353)

* Get content of topic from launch_testing_ros::WaitForTopics
#346
Signed-off-by: Pintaudi Giorgio <[email protected]>
---------

Signed-off-by: Pintaudi Giorgio <[email protected]>
(cherry picked from commit 2d125a5)

# Conflicts:
#	launch_testing_ros/launch_testing_ros/wait_for_topics.py
#	launch_testing_ros/test/examples/wait_for_topic_launch_test.py
Signed-off-by: Aditya Pande <[email protected]>

* Resolve conflicts (#390)

Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Aditya Pande <[email protected]>

---------

Signed-off-by: Pintaudi Giorgio <[email protected]>
Signed-off-by: Aditya Pande <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Co-authored-by: Giorgio Pintaudi <[email protected]>
Co-authored-by: Ryan <[email protected]>

launch_testing_ros/launch_testing_ros/wait_for_topics.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections import deque
 import random
 import string
 from threading import Event
@@ -37,6 +38,10 @@ def method_1():
         with WaitForTopics(topic_list, timeout=5.0):
             # 'topic_1' and 'topic_2' received at least one message each
             print('Given topics are receiving messages !')
+            print(wait_for_topics.topics_not_received()) # Should be an empty set
+            print(wait_for_topics.topics_received()) # Should be {'topic_1', 'topic_2'}
+            print(wait_for_topics.messages_received('topic_1')) # Should be [message_1, ...]
+            wait_for_topics.shutdown()
 
     # Method 2, calling wait() and shutdown() manually
     def method_2():
@@ -49,9 +54,10 @@ def method_2():
         wait_for_topics.shutdown()
     """
 
-    def __init__(self, topic_tuples, timeout=5.0):
+    def __init__(self, topic_tuples, timeout=5.0, messages_received_buffer_length=10):
         self.topic_tuples = topic_tuples
         self.timeout = timeout
+        self.messages_received_buffer_length = messages_received_buffer_length
         self.__ros_context = rclpy.Context()
         rclpy.init(context=self.__ros_context)
         self.__ros_executor = SingleThreadedExecutor(context=self.__ros_context)
@@ -64,9 +70,14 @@ def __init__(self, topic_tuples, timeout=5.0):
         self.__ros_spin_thread.start()
 
     def _prepare_ros_node(self):
-        node_name = '_test_node_' +\
-            ''.join(random.choices(string.ascii_uppercase + string.digits, k=10))
-        self.__ros_node = _WaitForTopicsNode(name=node_name, node_context=self.__ros_context)
+        node_name = '_test_node_' + ''.join(
+            random.choices(string.ascii_uppercase + string.digits, k=10)
+        )
+        self.__ros_node = _WaitForTopicsNode(
+            name=node_name,
+            node_context=self.__ros_context,
+            messages_received_buffer_length=self.messages_received_buffer_length,
+        )
         self.__ros_executor.add_node(self.__ros_node)
 
     def _spin_function(self):
@@ -91,6 +102,12 @@ def topics_not_received(self):
         """Topics that did not receive any messages."""
         return self.__ros_node.expected_topics - self.__ros_node.received_topics
 
+    def received_messages(self, topic_name):
+        """List of received messages of a specific topic."""
+        if topic_name not in self.__ros_node.received_messages_buffer:
+            raise KeyError('No messages received for topic: ' + topic_name)
+        return list(self.__ros_node.received_messages_buffer[topic_name])
+
     def __enter__(self):
         if not self.wait():
             raise RuntimeError('Did not receive messages on these topics: ',
@@ -106,31 +123,49 @@ def __exit__(self, exep_type, exep_value, trace):
 class _WaitForTopicsNode(Node):
     """Internal node used for subscribing to a set of topics."""
 
-    def __init__(self, name='test_node', node_context=None):
-        super().__init__(node_name=name, context=node_context)
+    def __init__(
+            self, name='test_node', node_context=None, messages_received_buffer_length=None
+    ):
+        super().__init__(node_name=name, context=node_context)  # type: ignore
         self.msg_event_object = Event()
-
-    def start_subscribers(self, topic_tuples):
+        self.messages_received_buffer_length = messages_received_buffer_length
         self.subscriber_list = []
-        self.expected_topics = {name for name, _ in topic_tuples}
+        self.topic_tuples = []
+        self.expected_topics = set()
+        self.received_topics = set()
+        self.received_messages_buffer = {}
+
+    def _reset(self):
+        self.msg_event_object.clear()
         self.received_topics = set()
+        for buffer in self.received_messages_buffer.values():
+            buffer.clear()
 
+    def start_subscribers(self, topic_tuples):
+        self._reset()
         for topic_name, topic_type in topic_tuples:
-            # Create a subscriber
-            self.subscriber_list.append(
-                self.create_subscription(
-                    topic_type,
-                    topic_name,
-                    self.callback_template(topic_name),
-                    10
+            if (topic_name, topic_type) not in self.topic_tuples:
+                self.topic_tuples.append((topic_name, topic_type))
+                self.expected_topics.add(topic_name)
+                # Initialize ring buffer of received messages
+                self.received_messages_buffer[topic_name] = deque(
+                    maxlen=self.messages_received_buffer_length
+                )
+                # Create a subscriber
+                self.subscriber_list.append(
+                    self.create_subscription(
+                        topic_type,
+                        topic_name,
+                        self.callback_template(topic_name),
+                        10
+                    )
                 )
-            )
 
     def callback_template(self, topic_name):
-
         def topic_callback(data):
+            self.get_logger().debug('Message received for ' + topic_name)
+            self.received_messages_buffer[topic_name].append(data)
             if topic_name not in self.received_topics:
-                self.get_logger().debug('Message received for ' + topic_name)
                 self.received_topics.add(topic_name)
             if self.received_topics == self.expected_topics:
                 self.msg_event_object.set()

launch_testing_ros/test/examples/wait_for_topic_launch_test.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import os
+import re
 import sys
 import unittest
 
@@ -22,7 +23,9 @@
 import launch_testing.actions
 import launch_testing.markers
 from launch_testing_ros import WaitForTopics
+
 import pytest
+
 from std_msgs.msg import String
 
 
@@ -57,11 +60,18 @@ def test_topics_successful(self, count):
             """All the supplied topics should be read successfully."""
             topic_list = [('chatter_' + str(i), String) for i in range(count)]
             expected_topics = {'chatter_' + str(i) for i in range(count)}
+            message_pattern = re.compile(r'Hello World: \d+')
 
             # Method 1 : Using the magic methods and 'with' keyword
-            with WaitForTopics(topic_list, timeout=2.0) as wait_for_node_object_1:
+            with WaitForTopics(
+                topic_list, timeout=2.0, messages_received_buffer_length=10
+            ) as wait_for_node_object_1:
                 assert wait_for_node_object_1.topics_received() == expected_topics
                 assert wait_for_node_object_1.topics_not_received() == set()
+                for topic_name, _ in topic_list:
+                    assert len(wait_for_node_object_1.received_messages(topic_name)) >= 1
+                    message = wait_for_node_object_1.received_messages(topic_name).pop().data
+                    assert message_pattern.match(message)
 
             # Multiple instances of WaitForNode() can be created safely as
             # their internal nodes spin in separate contexts
@@ -70,6 +80,10 @@ def test_topics_successful(self, count):
             assert wait_for_node_object_2.wait()
             assert wait_for_node_object_2.topics_received() == expected_topics
             assert wait_for_node_object_2.topics_not_received() == set()
+            for topic_name, _ in topic_list:
+                assert len(wait_for_node_object_1.received_messages(topic_name)) >= 1
+                message = wait_for_node_object_2.received_messages(topic_name).pop().data
+                assert message_pattern.match(message)
             wait_for_node_object_2.shutdown()
 
         def test_topics_unsuccessful(self, count):