test(agnocastlib): add CIE integration tests for dynamic callback groups#1264
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test(agnocastlib): add CIE integration tests for dynamic callback groups#1264atsushi421 wants to merge 1 commit intomainfrom
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Add integration tests for CallbackIsolatedAgnocastExecutor that verify the monitoring loop correctly handles callback groups created after spin() has started: - test_ros2_callback_group_added_after_spin: creates a ROS callback group with a timer after spin, verifies the monitoring loop detects it, spawns a child executor, publishes CallbackGroupInfo, and the timer callback executes. - test_agnocast_callback_group_added_after_spin: creates an agnocast callback group with an agnocast subscription after spin, verifies the monitoring loop detects it, spawns a SingleThreadedAgnocastExecutor, publishes CallbackGroupInfo, and the agnocast callback executes via mqueue. Also includes the existing test_spin_publishes_callback_group_info test that was previously only in the tier4/agnocast fork. Signed-off-by: atsushi421 <atsushi.yano.2@tier4.jp>
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Description
Add integration tests for
CallbackIsolatedAgnocastExecutorthat verify the monitoring loop correctly handles callback groups created afterspin()has started:CallbackGroupInfofor all callback groups present at spin time.spin(), verifies the monitoring loop detects it, spawns a child executor, publishesCallbackGroupInfo, and the timer callback executes.spin(), verifies the monitoring loop detects it, spawns aSingleThreadedAgnocastExecutor, publishesCallbackGroupInfo, and the agnocast callback executes via mqueue.Related links
How was this PR tested?
bash scripts/test/e2e_test_1to1.bash(required)bash scripts/test/e2e_test_2to2.bash(required)bash scripts/test/run_requires_kernel_module_tests.bash(required)All 38 integration tests pass locally (including the 3 new CIE tests):
Notes for reviewers
These tests use the existing ioctl mock (
test/integration/src/ioctl_mock.cpp) so they do not require the kernel module to run.An important implementation note: callback groups created dynamically must be stored as member variables (SharedPtr) because
NodeBase::callback_groups_holdsWeakPtr. If the callback group's only strong reference goes out of scope, the group is destroyed and the monitoring loop cannot detect it.Version Update Label (Required)
need-patch-update— test-only addition, no production code changes.