#include <aws_ros1_common/sdk_utils/logging/aws_ros_logger.h>
#include <gtest/gtest.h>
#include <kinesis_manager/kinesis_stream_manager.h>
#include <kinesis_manager/stream_definition_provider.h>
#include <kinesis_video_msgs/KinesisVideoFrame.h>
#include <kinesis_video_streamer/ros_stream_subscription_installer.h>
#include <kinesis_video_streamer/streamer.h>
#include <kinesis_video_streamer/subscriber_callbacks.h>
#include <ros/callback_queue.h>
#include <ros/ros.h>
#include <rosgraph_msgs/Log.h>
#include <queue>
#include "kinesis_video_streamer_test_utils.h"

Include dependency graph for kinesis_video_streamer_test.cpp:

Classes
class	KinesisVideoStreamerE2ETest

class	KinesisVideoStreamerTestBase

Macros
#define	ROS_POSTCALLBACK_ASSERT_TRUE(expr)
	Some tests rely on ROS callback processing which may take time. To avoid unnecessary waits we define a helper macro with the following logic: If the assertion would fail, call available callbacks first. If the assertion would still fail, call available callbacks with a "small" timeout (0.1s). If the assertion would still fail, call available callbacks with a "large" timeout (5s). finally, ASSERT_TRUE. This avoids unnecessary waits and ensures sufficient processing time if needed. More...

Functions
void	ImageTransportTestCallback (const KinesisStreamManagerInterface &stream_manager, std::string stream_name, const sensor_msgs::ImageConstPtr &image)

	INSTANTIATE_TEST_CASE_P (End2EndTest, KinesisVideoStreamerE2ETest,::testing::ValuesIn(callback_tuples))

void	KinesisVideoFrameTransportTestCallback (KinesisStreamManagerInterface &stream_manager, std::string stream_name, const kinesis_video_msgs::KinesisVideoFrame::ConstPtr &frame_msg)

int	main (int argc, char **argv)

void	RekognitionEnabledKinesisVideoFrameTransportTestCallback (KinesisStreamManagerInterface &stream_manager, std::string stream_name, const kinesis_video_msgs::KinesisVideoFrame::ConstPtr &frame_msg, const ros::Publisher &publisher)

void	rosout_logger_callback (const rosgraph_msgs::Log &published_log)

	TEST (StreamerGlobalSuite, rosParameterConstruction)

	TEST_F (KinesisVideoStreamerTestBase, sanity)

	TEST_F (KinesisVideoStreamerTestBase, invalidCallbackShouldReturnFalse)

	TEST_F (KinesisVideoStreamerTestBase, codecPrivateDataFailure)

	TEST_F (KinesisVideoStreamerTestBase, invalidStreamDefinition)

	TEST_F (KinesisVideoStreamerTestBase, streamInitializationFailures)

	TEST_P (KinesisVideoStreamerE2ETest, E2ETest)

Variables
vector< tuple< Aws::Kinesis::KinesisVideoFrameTransportCallbackFn, Aws::Kinesis::ImageTransportCallbackFn, Aws::Kinesis::RekognitionEnabledKinesisVideoFrameTransportCallbackFn > >	callback_tuples

constexpr double	kMultipleCallbacksWaitTime = 5

queue< rosgraph_msgs::Log > *	kRosoutQueue = nullptr

constexpr double	kSingleCallbackWaitTime = 0.1

TestData *	kTestData = nullptr

Macro Definition Documentation

#define ROS_POSTCALLBACK_ASSERT_TRUE ( expr )

Value:

if (!(expr)) {                                                                                \
    ros::getGlobalCallbackQueue()->callAvailable();                                             \
    if (!(expr)) {                                                                              \
      ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(kSingleCallbackWaitTime)); \
      if (!(expr)) {                                                                            \
        ros::getGlobalCallbackQueue()->callAvailable(                                           \
          ros::WallDuration(kMultipleCallbacksWaitTime));                                       \
      }                                                                                         \
    }                                                                                           \
  }                                                                                             \
  ASSERT_TRUE(expr)

Some tests rely on ROS callback processing which may take time. To avoid unnecessary waits we define a helper macro with the following logic: If the assertion would fail, call available callbacks first. If the assertion would still fail, call available callbacks with a "small" timeout (0.1s). If the assertion would still fail, call available callbacks with a "large" timeout (5s). finally, ASSERT_TRUE. This avoids unnecessary waits and ensures sufficient processing time if needed.

Definition at line 42 of file kinesis_video_streamer_test.cpp.

Function Documentation

void ImageTransportTestCallback	(	const KinesisStreamManagerInterface &	stream_manager,
		std::string	stream_name,
		const sensor_msgs::ImageConstPtr &	image
	)

Definition at line 208 of file kinesis_video_streamer_test.cpp.

INSTANTIATE_TEST_CASE_P	(	End2EndTest	,
		KinesisVideoStreamerE2ETest	,
		::testing::ValuesIn(callback_tuples)
	)

Perform an end to end test using both the mocked and real callbacks. The mocked callbacks execution is used to check that N published messages result in N invocations of the callback, while execution with the real callbacks checks that N published messages result in N calls to the PutFrame API.

void KinesisVideoFrameTransportTestCallback	(	KinesisStreamManagerInterface &	stream_manager,
		std::string	stream_name,
		const kinesis_video_msgs::KinesisVideoFrame::ConstPtr &	frame_msg
	)

Definition at line 201 of file kinesis_video_streamer_test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 413 of file kinesis_video_streamer_test.cpp.

void RekognitionEnabledKinesisVideoFrameTransportTestCallback	(	KinesisStreamManagerInterface &	stream_manager,
		std::string	stream_name,
		const kinesis_video_msgs::KinesisVideoFrame::ConstPtr &	frame_msg,
		const ros::Publisher &	publisher
	)

Definition at line 214 of file kinesis_video_streamer_test.cpp.

void rosout_logger_callback ( const rosgraph_msgs::Log & published_log )

Definition at line 408 of file kinesis_video_streamer_test.cpp.

TEST	(	StreamerGlobalSuite	,
		rosParameterConstruction
	)

Definition at line 391 of file kinesis_video_streamer_test.cpp.

TEST_F	(	KinesisVideoStreamerTestBase	,
		sanity
	)

Tests success scenario.

Definition at line 97 of file kinesis_video_streamer_test.cpp.

TEST_F	(	KinesisVideoStreamerTestBase	,
		invalidCallbackShouldReturnFalse
	)

Definition at line 113 of file kinesis_video_streamer_test.cpp.

TEST_F	(	KinesisVideoStreamerTestBase	,
		codecPrivateDataFailure
	)

Codec private data loading failure

Definition at line 122 of file kinesis_video_streamer_test.cpp.

TEST_F	(	KinesisVideoStreamerTestBase	,
		invalidStreamDefinition
	)

Invalid stream definitions

Definition at line 138 of file kinesis_video_streamer_test.cpp.

TEST_F	(	KinesisVideoStreamerTestBase	,
		streamInitializationFailures
	)

InitializeVideoStream failure

Subscription failure

Definition at line 153 of file kinesis_video_streamer_test.cpp.

TEST_P	(	KinesisVideoStreamerE2ETest	,
		E2ETest
	)

Definition at line 371 of file kinesis_video_streamer_test.cpp.

Variable Documentation

vector< tuple<Aws::Kinesis::KinesisVideoFrameTransportCallbackFn, Aws::Kinesis::ImageTransportCallbackFn, Aws::Kinesis::RekognitionEnabledKinesisVideoFrameTransportCallbackFn> > callback_tuples

Initial value:

= {
    std::make_tuple(&KinesisVideoFrameTransportTestCallback, &ImageTransportTestCallback,
                    &RekognitionEnabledKinesisVideoFrameTransportTestCallback),
    std::make_tuple(&Aws::Kinesis::KinesisVideoFrameTransportCallback,
                    &Aws::Kinesis::ImageTransportCallback,
                    &Aws::Kinesis::RekognitionEnabledKinesisVideoFrameTransportCallback)}

Definition at line 376 of file kinesis_video_streamer_test.cpp.

constexpr double kMultipleCallbacksWaitTime = 5

Definition at line 33 of file kinesis_video_streamer_test.cpp.

queue<rosgraph_msgs::Log>* kRosoutQueue = nullptr

Definition at line 59 of file kinesis_video_streamer_test.cpp.

constexpr double kSingleCallbackWaitTime = 0.1

Definition at line 32 of file kinesis_video_streamer_test.cpp.

TestData* kTestData = nullptr

Definition at line 60 of file kinesis_video_streamer_test.cpp.

Classes

Macros

Functions

Variables

Macro Definition Documentation

Function Documentation

Variable Documentation