test: implemented test case for setting nice value

Signed-off-by: Janosch Machowinski <[email protected]>

rosbag2_compression/test/rosbag2_compression/test_sequential_compression_writer.cpp

@@ -37,6 +37,13 @@
 
 #include "mock_compression_factory.hpp"
 
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#include <sys/resource.h>
+#endif
+
 using namespace testing;  // NOLINT
 
 static constexpr const char * DefaultTestCompressor = "fake_comp";
@@ -394,6 +401,100 @@ TEST_P(SequentialCompressionWriterTest, writer_writes_with_compression_queue_siz
   EXPECT_EQ(fake_storage_size_, kNumMessagesToWrite);
 }
 
+
+TEST_P(SequentialCompressionWriterTest, writer_sets_nice_value)
+{
+  const std::string test_topic_name = "test_topic";
+  const std::string test_topic_type = "test_msgs/BasicTypes";
+  const uint64_t kCompressionQueueSize = GetParam();
+  const int wanted_nice_value = 10;
+
+  class TestCompressor : public rosbag2_compression::BaseCompressorInterface
+  {
+    int & detected_nice_value;
+
+public:
+    TestCompressor(int & detected_nice_value)
+    : detected_nice_value(detected_nice_value) {}
+    virtual std::string compress_uri(const std::string & uri)
+    {
+      return uri;
+    }
+
+    virtual void compress_serialized_bag_message(
+      const rosbag2_storage::SerializedBagMessage * bag_message,
+      rosbag2_storage::SerializedBagMessage * compressed_message)
+    {
+#ifdef _WIN32
+      int cur_nice_value = getpriority(PRIO_PROCESS, 0);
+      if (cur_nice_value != -1 && errno == 0) {
+
+        detected_nice_value = cur_nice_value;
+      }
+#else
+      //FIXME implement windows version
+#endif
+
+      *compressed_message = *bag_message;
+    }
+
+    /**
+     * Get the identifier of the compression algorithm.
+     * This is appended to the extension of the compressed file.
+     */
+    virtual std::string get_compression_identifier() const
+    {
+      return "niceTest";
+    }
+  };
+
+  class FakeFactory : public rosbag2_compression::CompressionFactory
+  {
+    int & detected_nice_value;
+
+public:
+    FakeFactory(int & detected_nice_value)
+    : detected_nice_value(detected_nice_value) {}
+
+    virtual std::shared_ptr<rosbag2_compression::BaseCompressorInterface>
+    create_compressor(const std::string & /*compression_format*/)
+    {
+      return std::make_shared<TestCompressor>(detected_nice_value);
+    }
+  };
+
+  // queue size should be 0 or at least the number of remaining messages to prevent message loss
+  rosbag2_compression::CompressionOptions compression_options {
+    DefaultTestCompressor,
+    rosbag2_compression::CompressionMode::MESSAGE,
+    kCompressionQueueSize,
+    kDefaultCompressionQueueThreads,
+    wanted_nice_value
+  };
+
+  // nice values are in the range from -20 to +19, so this value will never be read
+  int detected_nice_value = 100;
+
+  initializeFakeFileStorage();
+  initializeWriter(compression_options, std::make_unique<FakeFactory>(detected_nice_value));
+
+  writer_->open(tmp_dir_storage_options_);
+  writer_->create_topic({test_topic_name, test_topic_type, "", "", ""});
+
+  auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
+  message->topic_name = test_topic_name;
+
+  const size_t kNumMessagesToWrite = 5;
+  for (size_t i = 0; i < kNumMessagesToWrite; i++) {
+    writer_->write(message);
+  }
+  writer_.reset();    // reset will call writer destructor
+
+  EXPECT_EQ(detected_nice_value, *compression_options.thread_nice_value);
+
+  EXPECT_EQ(fake_storage_size_, kNumMessagesToWrite);
+}
+
 INSTANTIATE_TEST_SUITE_P(
   SequentialCompressionWriterTestQueueSizes,
   SequentialCompressionWriterTest,