test: add unit tests for the cuda_blackboard package

[manato]

PR Type

• Improvement

Related Links

• This PR follows perf: use mem pool and asynchronous APIs #22

Description

This PR adds unit tests for the cuda_blackboard package. The tests are intended to work with the modification added in #22, though most of them could work without the modification.

Review Procedure

# build the package
colcon build --symlink-install \
  --cmake-args -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
  --packages-up-to cuda_blackboard

# run the tests
colcon test --event-handlers console_cohesion+ \
  --packages-select cuda_blackboard

The result will look like

Starting >>> cuda_blackboard
--- output: cuda_blackboard

...

1: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
1: [==========] Running 3 tests from 1 test suite.
1: [----------] Global test environment set-up.
1: [----------] 3 tests from CudaBlackboardTest
1: [ RUN      ] CudaBlackboardTest.QueryByInstanceIdAndProducerConsumesTickets
1: [       OK ] CudaBlackboardTest.QueryByInstanceIdAndProducerConsumesTickets (169 ms)
1: [ RUN      ] CudaBlackboardTest.DuplicateProducerReplacesPreviousData
1: [WARN 1781573370.093582848] [CudaBlackboard]: Producer CudaBlackboardTest.DuplicateProducerReplacesPreviousData already exists. Deleting. It had 2 tickets left
1: [       OK ] CudaBlackboardTest.DuplicateProducerReplacesPreviousData (0 ms)
1: [ RUN      ] CudaBlackboardTest.MissingKeysReturnNullptr
1: [       OK ] CudaBlackboardTest.MissingKeysReturnNullptr (0 ms)
1: [----------] 3 tests from CudaBlackboardTest (169 ms total)
1:
1: [----------] Global test environment tear-down
1: [==========] 3 tests from 1 test suite ran. (169 ms total)
1: [  PASSED  ] 3 tests.
1: -- run_test.py: return code 0

...

1/6 Test #1: test_cuda_blackboard .............   Passed    0.29 sec
test 2
    Start 2: test_cuda_image

...

2: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
2: [==========] Running 5 tests from 1 test suite.
2: [----------] Global test environment set-up.
2: [----------] 5 tests from CudaImageTest
2: [ RUN      ] CudaImageTest.ConstructsFromRosImageAndConvertsBack
2: [       OK ] CudaImageTest.ConstructsFromRosImageAndConvertsBack (127 ms)
2: [ RUN      ] CudaImageTest.CopyConstructorDeepCopiesDeviceData
2: [WARN 1781573370.343438378] [CudaImage]: CudaImage copy constructor called. This should be avoided and is most likely a design error.
2: [       OK ] CudaImageTest.CopyConstructorDeepCopiesDeviceData (0 ms)
2: [ RUN      ] CudaImageTest.TypeAdapterRoundTripPreservesData
2: [       OK ] CudaImageTest.TypeAdapterRoundTripPreservesData (0 ms)
2: [ RUN      ] CudaImageTest.MoveConstructorTransfersDeviceData
2: [       OK ] CudaImageTest.MoveConstructorTransfersDeviceData (0 ms)
2: [ RUN      ] CudaImageTest.MoveAssignmentTransfersDeviceData
2: [       OK ] CudaImageTest.MoveAssignmentTransfersDeviceData (0 ms)
2: [----------] 5 tests from CudaImageTest (127 ms total)
2:
2: [----------] Global test environment tear-down
2: [==========] 5 tests from 1 test suite ran. (127 ms total)
2: [  PASSED  ] 5 tests.
2: -- run_test.py: return code 0

...

2/6 Test #2: test_cuda_image ..................   Passed    0.25 sec
test 3
    Start 3: test_cuda_pointcloud2

...

3: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
3: [==========] Running 5 tests from 1 test suite.
3: [----------] Global test environment set-up.
3: [----------] 5 tests from CudaPointCloud2Test
3: [ RUN      ] CudaPointCloud2Test.ConstructsFromRosPointCloudAndConvertsBack
3: [       OK ] CudaPointCloud2Test.ConstructsFromRosPointCloudAndConvertsBack (146 ms)
3: [ RUN      ] CudaPointCloud2Test.CopyConstructorDeepCopiesDeviceData
3: [WARN 1781573370.608095259] [CudaPointCloud2]: CudaPointCloud2 copy constructor called. This should be avoided and is most likely a design error.
3: [       OK ] CudaPointCloud2Test.CopyConstructorDeepCopiesDeviceData (0 ms)
3: [ RUN      ] CudaPointCloud2Test.TypeAdapterRoundTripPreservesData
3: [       OK ] CudaPointCloud2Test.TypeAdapterRoundTripPreservesData (0 ms)
3: [ RUN      ] CudaPointCloud2Test.MoveConstructorTransfersOwnership
3: [       OK ] CudaPointCloud2Test.MoveConstructorTransfersOwnership (0 ms)
3: [ RUN      ] CudaPointCloud2Test.MoveAssignmentTransfersOwnership
3: [       OK ] CudaPointCloud2Test.MoveAssignmentTransfersOwnership (0 ms)
3: [----------] 5 tests from CudaPointCloud2Test (146 ms total)
3:
3: [----------] Global test environment tear-down
3: [==========] 5 tests from 1 test suite ran. (146 ms total)
3: [  PASSED  ] 5 tests.
3: -- run_test.py: return code 0

...

3/6 Test #3: test_cuda_pointcloud2 ............   Passed    0.26 sec
test 4
    Start 4: test_cuda_unique_ptr

...

4: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
4: [==========] Running 4 tests from 2 test suites.
4: [----------] Global test environment set-up.
4: [----------] 2 tests from CudaUniquePtrTest
4: [ RUN      ] CudaUniquePtrTest.AllocatesDeviceObject
4: [       OK ] CudaUniquePtrTest.AllocatesDeviceObject (132 ms)
4: [ RUN      ] CudaUniquePtrTest.AllocatesDeviceArray
4: [       OK ] CudaUniquePtrTest.AllocatesDeviceArray (0 ms)
4: [----------] 2 tests from CudaUniquePtrTest (132 ms total)
4:
4: [----------] 2 tests from HostUniquePtrTest
4: [ RUN      ] HostUniquePtrTest.AllocatesPinnedHostObject
4: [       OK ] HostUniquePtrTest.AllocatesPinnedHostObject (1 ms)
4: [ RUN      ] HostUniquePtrTest.AllocatesPinnedHostArray
4: [       OK ] HostUniquePtrTest.AllocatesPinnedHostArray (0 ms)
4: [----------] 2 tests from HostUniquePtrTest (1 ms total)
4:
4: [----------] Global test environment tear-down
4: [==========] 4 tests from 2 test suites ran. (133 ms total)
4: [  PASSED  ] 4 tests.
4: -- run_test.py: return code 0

...

4/6 Test #4: test_cuda_unique_ptr .............   Passed    0.26 sec
test 5
    Start 5: test_cuda_error

...

5: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
5: [==========] Running 4 tests from 1 test suite.
5: [----------] Global test environment set-up.
5: [----------] 4 tests from CudaError
5: [ RUN      ] CudaError.SuccessDoesNotThrow
5: [       OK ] CudaError.SuccessDoesNotThrow (0 ms)
5: [ RUN      ] CudaError.FailureThrowsRuntimeError
5: [       OK ] CudaError.FailureThrowsRuntimeError (50 ms)
5: [ RUN      ] CudaError.FailureMessageContainsErrorNameAndLocation
5: [       OK ] CudaError.FailureMessageContainsErrorNameAndLocation (0 ms)
5: [ RUN      ] CudaError.MacroForwardsFileAndLine
5: [       OK ] CudaError.MacroForwardsFileAndLine (0 ms)
5: [----------] 4 tests from CudaError (50 ms total)
5:
5: [----------] Global test environment tear-down
5: [==========] 4 tests from 1 test suite ran. (50 ms total)
5: [  PASSED  ] 4 tests.
5: -- run_test.py: return code 0

...

5/6 Test #5: test_cuda_error ..................   Passed    0.13 sec
test 6
    Start 6: test_cuda_blackboard_pubsub

...

6: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
6: [==========] Running 2 tests from 1 test suite.
6: [----------] Global test environment set-up.
6: [----------] 2 tests from CudaBlackboardPubSubTest
6: [ RUN      ] CudaBlackboardPubSubTest.SubscriberDiscoversPublisher
6: [WARN 1781573371.166062334] [cuda_blackboard_sub_node]: `user_stream` was not set or the legacy default stream was specified for the CudaBlackboardSubscriber of test_image. This causes process-wide synchronization after the callback executes, which may degrade performance. Moreover, if the subscribed data is consumed on a CUDA stream created with the `cudaStreamNonBlocking` flag, this may cause a use-after-free of the pointer. To avoid this, consider the following:
6:   - pass the stream to the CudaBlackboardSubscriber's constructor, and/or
6:   - perform proper synchronization on the stream in the callback
6: [       OK ] CudaBlackboardPubSubTest.SubscriberDiscoversPublisher (61 ms)
6: [ RUN      ] CudaBlackboardPubSubTest.PublishDeliversImageToSubscriber
6: [INFO 1781573371.252693964] [cuda_blackboard_pub_node]: Negotiating
6: [INFO 1781573371.252947479] [cuda_blackboard_sub_node]: A negotiation type succeeded, so the compatible callback will be disabled
6: [       OK ] CudaBlackboardPubSubTest.PublishDeliversImageToSubscriber (105 ms)
6: [----------] 2 tests from CudaBlackboardPubSubTest (166 ms total)
6:
6: [----------] Global test environment tear-down
6: [==========] 2 tests from 1 test suite ran. (166 ms total)
6: [  PASSED  ] 2 tests.
6: -- run_test.py: return code 0

...

6/6 Test #6: test_cuda_blackboard_pubsub ......   Passed    0.29 sec

100% tests passed, 0 tests failed out of 6

Label Time Summary:
gtest    =   1.47 sec*proc (6 tests)

Total Test time (real) =   1.47 sec
---
Finished <<< cuda_blackboard [1.52s]

Summary: 1 package finished [1.64s]

Remarks

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• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
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• All open points are addressed and tracked via issues or tickets

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