Merge remote-tracking branch 'origin/master' into parallelize-run-interoperability-tests

Author: stkimmer

README.md

@@ -191,7 +191,7 @@ The Shape application allows the following parameters:
                         Default: 33ms
    --read-period <ms> : waiting period between 'read()' or 'take()' operations
                         in ms. Default: 100ms
-   --time-filter <interval> : apply 'time based filter' with interval
+   --time-filter <interval> : apply 'time based filter' with interval 
                               in ms [0: OFF]
    --lifespan <int>      : indicates the lifespan of a sample in ms
    --num-iterations <int>: indicates the number of iterations of the main loop
@@ -225,7 +225,8 @@ The Shape application allows the following parameters:
                                       large data)
    --take-read           : uses take()/read() instead of take_next_instance()
                            read_next_instance()
-
+   --periodic-announcement <ms> : indicates the periodic participant
+                                  announcement period in ms. Default 0 (off)
 ~~~
 
 ## Return Code
@@ -356,62 +357,72 @@ The `interoperability_report.py` may configure the following options:
 $ python3 interoperability_report.py -h
 
 usage: interoperability_report.py [-h] -P publisher_executable_name -S subscriber_executable_name
-                                  [-v] [-s test_suite_dictionary_file]
-                                  [-t test_cases [test_cases ...] | -d
-                                  test_cases_disabled
-                                  [test_cases_disabled ...]] [-o filename]
+                                  [-v] [-x {1,2}] [-a periodic_announcement_period]
+                                  [-s test_suite_dictionary_file]
+                                  [-t test_cases [test_cases ...] | -d test_cases_disabled [test_cases_disabled ...]]
+                                  [-o filename]
 
-Validation of interoperability of products compliant with OMG DDS-RTPS
-standard. This script generates automatically the verification between two
-shape_main executables. It also generates an XML report in JUnit format.
+Validation of interoperability of products compliant with OMG DDS-RTPS standard.
+This script generates automatically the verification between two shape_main
+executables. It also generates an XML report in JUnit format.
 
 optional arguments:
   -h, --help            show this help message and exit
 
 general options:
   -P publisher_executable_name, --publisher publisher_executable_name
-                        Path to the Publisher shape_main application. It may
-                        be absolute or relative path. Example: if the
-                        executable is in the same folder as the script: "-P
-                        ./rti_connext_dds-6.1.1_shape_main_linux".
+                        Path to the Publisher shape_main application. It may be
+                        absolute or relative path. Example: if the executable is
+                        in the same folder as the script:
+                        "-P ./rti_connext_dds-6.1.1_shape_main_linux".
   -S subscriber_executable_name, --subscriber subscriber_executable_name
-                        Path to the Subscriber shape_main application. It may
-                        be absolute or relative path. Example: if the
-                        executable is in the same folder as the script: "-S
-                        ./rti_connext_dds-6.1.1_shape_main_linux".
+                        Path to the Subscriber shape_main application. It may be
+                        absolute or relative path. Example: if the executable is
+                        in the same folder as the script:
+                        "-S ./rti_connext_dds-6.1.1_shape_main_linux".
 
 optional parameters:
   -v, --verbose         Print debug information to stdout. This option also
                         shows the shape_main application output in case of
-                        error. If this option is not used, only the test
-                        results are printed in the stdout. (Default: False).
+                        error. If this option is not used, only the test results
+                        are printed in the stdout.
+                        Default: False.
+  -x {1,2}, --data-representation {1,2}
+                        Data Representation used if no provided when running the
+                        shape_main application. If this application already sets
+                        the data representation, this parameter is not used. The
+                        potential values are 1 for XCDR1 and 2 for XCDR2.
+                        Default value 2.
+  -a periodic_announcement_period, --periodic-announcement periodic_announcement_ms
+                        Indicates the periodic participant announcement period in ms.
+                        Default: 0 (off).
 
 Test Case and Test Suite:
   -s test_suite_dictionary_file, --suite test_suite_dictionary_file
                         Test Suite that is going to be tested. Test Suite is a
                         file with a Python dictionary defined. It must be
-                        located on the same directory as
-                        interoperability_report. This value should not contain
-                        the extension ".py", only the name of the file. It
-                        will run all the dictionaries defined in the file.
-                        (Default: test_suite).
+                        located on the same directory as interoperability_report.
+                        This value should not contain the extension ".py", only
+                        the name of the file. It will run all the dictionaries
+                        defined in the file.
+                        Default: test_suite.
   -t test_cases [test_cases ...], --test test_cases [test_cases ...]
                         Test Case that the script will run. This option is not
                         supported with --disable-test. This allows to set
-                        multiple values separated by a space. (Default: run
-                        all Test Cases from the Test Suite.)
+                        multiple values separated by a space.
+                        Default: run all Test Cases from the Test Suite.
   -d test_cases_disabled [test_cases_disabled ...], --disable-test test_cases_disabled [test_cases_disabled ...]
-                        Test Case that the script will skip. This allows to
-                        set multiple values separated by a space. This option
-                        is not supported with --test. (Default: None)
+                        Test Case that the script will skip. This allows to set
+                        multiple values separated by a space. This option is not
+                        supported with --test.
+                        Default: None
 
 output options:
   -o filename, --output-name filename
                         Name of the xml report that will be generated. If the
-                        file passed already exists, it will add the new
-                        results to it. In other case it will create a new
-                        file. (Default:
-                        <publisher_name>-<subscriber_name>-date.xml)
+                        file passed already exists, it will add the new results
+                        to it. In other case it will create a new file.
+                        Default: <publisher_name>-<subscriber_name>-date.xml
 ```
 
 

doc/test_description.template.rst

@@ -60,6 +60,9 @@ product versions.
 
   * Content Filtered Topic expression created with single quotes around strings
     values
+  * Content Filtered Topic uses MATCH operator for string comparisons.
+  * Increased the periodic discovery announcements to 5s in the tests where
+    the subscriber is OpenDDS and the publisher is Connext DDS.
 
 * **FastDDS**:
 

interoperability_report.py

@@ -30,6 +30,38 @@
 # MAX_SAMPLES_SAVED is the maximum number of samples saved.
 MAX_SAMPLES_SAVED = 500
 
+def stop_process(child_process, timeout=30, poll_interval=0.2):
+    """
+    Stops a pexpect child process using SIGINT (Ctrl+C),
+    and forcefully terminates it if it doesn't exit within the timeout.
+
+    Parameters:
+        child_process (pexpect.spawn): The process to stop.
+        timeout (int): Max time (in seconds) to wait for graceful exit.
+        poll_interval (float): Time between checks in seconds.
+
+    Returns:
+        bool: True if process exited gracefully, False if it was killed.
+    """
+    if child_process.isalive():
+        try:
+            child_process.sendintr()
+        except Exception as e:
+            return True  # Process already exited
+    else:
+        return True  # Process already exited
+
+    start_time = time.time()
+
+    while child_process.isalive() and (time.time() - start_time < timeout):
+        time.sleep(poll_interval)
+
+    if child_process.isalive():
+        child_process.terminate(force=True)
+        return False  # Process was forcefully terminated
+
+    return True
+
 def run_subscriber_shape_main(
         name_executable: str,
         parameters: str,
@@ -165,11 +197,13 @@ def run_subscriber_shape_main(
     log_message(f'Subscriber {subscriber_index}: Waiting for Publishers to '
             'finish', verbosity)
     for element in publishers_finished:
-        element.wait()   # wait for all publishers to finish
-    # Send SIGINT to nicely close the application
-    if child_sub.isalive():
-        child_sub.sendintr()
-        child_sub.wait()
+        element.wait() # wait for all publishers to finish
+    # Stop process
+    if not stop_process(child_sub):
+        log_message(f'Subscriber {subscriber_index} process did not exit '
+                    'gracefully; it was forcefully terminated.',
+                    verbosity)
+
     return
 
 
@@ -332,10 +366,12 @@ def run_publisher_shape_main(
     for element in subscribers_finished:
         element.wait() # wait for all subscribers to finish
     publisher_finished.set()   # set publisher as finished
-    # Send SIGINT to nicely close the application
-    if child_pub.isalive():
-        child_pub.sendintr()
-        child_pub.wait()
+    # Stop process
+    if not stop_process(child_pub):
+        log_message(f'Publisher {publisher_index} process did not exit '
+                    'gracefully; it was forcefully terminated.',
+                    verbosity)
+
     return
 
 
@@ -599,18 +635,27 @@ def parser():
             help='Print debug information to stdout. This option also shows the '
                 'shape_main application output in case of error. '
                 'If this option is not used, only the test results are printed '
-                'in the stdout. (Default: False).')
+                'in the stdout. '
+                'Default: False')
         optional.add_argument('-x','--data-representation',
             default="2",
             required=None,
             type=str,
             choices=["1","2"],
             help='Data Representation used if no provided when running the '
                 'shape_main application. If this application already sets the '
-                'data representation, this parameter is not used.'
+                'data representation, this parameter is not used. '
                 'The potential values are 1 for XCDR1 and 2 for XCDR2.'
                 'Default value 2.')
 
+        optional.add_argument('-a', '--periodic-announcement',
+            default=0,
+            required=False,
+            type=int,
+            metavar='periodic_announcement_ms',
+            help='Indicates the periodic participant announcement period in ms. '
+                'Default: 0 (off).')
+
         tests = parser.add_argument_group(title='Test Case and Test Suite')
         tests.add_argument('-s', '--suite',
             default='test_suite',
@@ -623,7 +668,7 @@ def parser():
                 'This value should not contain the extension ".py", '
                 'only the name of the file. '
                 'It will run all the dictionaries defined in the file. '
-                '(Default: test_suite).')
+                'Default: test_suite.')
 
         enable_disable = tests.add_mutually_exclusive_group(required=False)
         enable_disable.add_argument('-t', '--test',
@@ -635,7 +680,7 @@ def parser():
             help='Test Case that the script will run. '
                 'This option is not supported with --disable-test. '
                 'This allows to set multiple values separated by a space. '
-                '(Default: run all Test Cases from the Test Suite.)')
+                'Default: run all Test Cases from the Test Suite.')
         enable_disable.add_argument('-d', '--disable-test',
             nargs='+',
             default=None,
@@ -644,7 +689,8 @@ def parser():
             metavar='test_cases_disabled',
             help='Test Case that the script will skip. '
                 'This allows to set multiple values separated by a space. '
-                'This option is not supported with --test. (Default: None)')
+                'This option is not supported with --test. '
+                'Default: None')
 
         out_opts = parser.add_argument_group(title='output options')
         out_opts.add_argument('-o', '--output-name',
@@ -655,7 +701,7 @@ def parser():
                 'If the file passed already exists, it will add '
                 'the new results to it. In other case it will create '
                 'a new file. '
-                '(Default: <publisher_name>-<subscriber_name>-date.xml)')
+                'Default: <publisher_name>-<subscriber_name>-date.xml')
 
         return parser
 
@@ -682,6 +728,7 @@ def main():
         'test_cases': args.test,
         'test_cases_disabled': args.disable_test,
         'data_representation': args.data_representation,
+        'periodic_announcement_ms': args.periodic_announcement,
     }
 
     # The executables's names are supposed to follow the pattern: name_shape_main
@@ -714,7 +761,7 @@ def main():
     # applications. A TestSuite contains a collection of TestCases.
     suite = junitparser.TestSuite(f"{name_publisher}---{name_subscriber}")
 
-    timeout = 10
+    timeout = 15
     now = datetime.now()
 
     t_suite_module = importlib.import_module(options['test_suite'])
@@ -768,9 +815,16 @@ def main():
 
                     assert(len(parameters) == len(expected_codes))
 
-                    for element in parameters:
+                    for i,element in enumerate(parameters):
                         if not '-x ' in element:
-                            element += f'-x {options["data_representation"]}'
+                            element += f' -x {options["data_representation"]}'
+                        # Add periodic announcement argument if needed
+                        if options['periodic_announcement_ms'] > 0 \
+                                and not '--periodic-announcement ' in element \
+                                and 'connext' in options['publisher'].lower() \
+                                and '-P' in element:
+                            element += f' --periodic-announcement {options["periodic_announcement_ms"]}'
+                        parameters[i] = element  # Update the list in place
 
                     case = junitparser.TestCase(f'{test_suite_name}_{test_case_name}')
                     now_test_case = datetime.now()

run_tests.sh

@@ -59,7 +59,7 @@ done
 # If publisher is not provided, find publisher applications
 if [[ -z $publisher ]]; then
     echo "Searching for publisher applications in directory: $input"
-    publisher=$(find "$input" -type f -name '*_shape_main_linux')
+    publisher=$(find "$input" -type f -name '*shape_main_linux')
 fi
 
 # If subscriber is not provided, find subscriber applications
@@ -80,10 +80,14 @@ for i in $publisher; do
         publisher_name=$(basename "$i" _shape_main_linux)
         subscriber_name=$(basename "$j" _shape_main_linux)
         echo "Testing Publisher $publisher_name --- Subscriber $subscriber_name"
+        extra_args=""
+        if [[ "${subscriber,,}" == *opendds* && "${publisher,,}" == *connext* ]]; then
+            extra_args="--periodic-announcement 5000"
+        fi;
         if [[ -n $output ]]; then
-            python3 ./interoperability_report.py -P "$i" -S "$j" -o "$output"
+            python3 ./interoperability_report.py -P "$i" -S "$j" -o "$output" $extra_args
         else
-            python3 ./interoperability_report.py -P "$i" -S "$j"
+            python3 ./interoperability_report.py -P "$i" -S "$j" $extra_args
         fi
         if [ -d "./OpenDDS-durable-data-dir" ]; then
             echo Deleting OpenDDS-durable-data-dir;

srcCxx/makefile_rti_connext_dds_linux

@@ -18,6 +18,10 @@ ifndef NDDSHOME
 $(error NDDSHOME not defined)
 endif
 
+ifndef CONNEXTDDS_ARCH
+$(error CONNEXTDDS_ARCH not defined)
+endif
+
 COMPILER_FLAGS = -m64
 LINKER_FLAGS = -m64 -static-libgcc
 
@@ -27,7 +31,7 @@ version_name = $(lastword $(split_path_name))
 common_name = "_shape_main_linux"
 executable_name = $(version_name)$(common_name)
 
-TARGET_ARCH = x64Linux4gcc7.3.0
+TARGET_ARCH = $(CONNEXTDDS_ARCH)
 
 ifndef COMPILER
 COMPILER = g++

srcCxx/shape_configurator_eprosima_fast_dds.h

@@ -65,3 +65,18 @@ uint64_t DDS_UInt8Seq_get_length(const std::vector<unsigned char>* seq)
 {
   return seq->size();
 }
+
+void DDS_UInt8Seq_ensure_length(std::vector<unsigned char>* seq, uint64_t length, uint64_t = 0)
+{
+  seq->resize(length);
+}
+
+unsigned char* DDS_UInt8Seq_get_reference(std::vector<unsigned char>* seq, uint64_t index)
+{
+  return &((*seq)[index]);
+}
+
+const unsigned char* DDS_UInt8Seq_get_reference(const std::vector<unsigned char>* seq, uint64_t index)
+{
+  return &((*seq)[index]);
+}

srcCxx/shape_configurator_intercom_dds.h

@@ -13,6 +13,9 @@
 #define DDS_UInt8Seq_ensure_length(s,l,x)  (s)->resize(l)
 #define DDS_UInt8Seq_get_reference(s,l)    &( (*s)[l] )
 
+#define DDS_BOOLEAN_TRUE                   true
+#define DDS_BOOLEAN_FALSE                  false
+
 inline const char *get_qos_policy_name(DDS::QosPolicyId_t policy_id) {
   switch (policy_id) {
   case DDS::USERDATA_QOS_POLICY_ID: