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Merge pull request #11 from ros2/fix_test_node_on_windows

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allow fail of custom domain id on Win/OpenSplice
This commit is contained in:
William Woodall 2015-12-31 17:08:48 -08:00
commit 2e5ee4264f
1 changed files with 33 additions and 6 deletions
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29
rcl/test/rcl/test_node.cpp
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@ -18,6 +18,7 @@
#include "rcl/rcl.h" #include "rcl/rcl.h"
#include "rcl/node.h" #include "rcl/node.h"
#include "rmw/rmw.h" // For rmw_get_implementation_identifier.
#include "../memory_tools.hpp" #include "../memory_tools.hpp"
#include "../scope_exit.hpp" #include "../scope_exit.hpp"
@ -70,6 +71,14 @@ failing_free(void * pointer, void * state)
(void)state; (void)state;
} }
bool is_opensplice =
std::string(rmw_get_implementation_identifier()).find("opensplice") != std::string::npos;
#if defined(WIN32)
bool is_windows = true;
#else
bool is_windows = false;
#endif
/* Tests the node accessors, i.e. rcl_node_get_* functions. /* Tests the node accessors, i.e. rcl_node_get_* functions.
*/ */
TEST_F(TestNodeFixture, test_rcl_node_accessors) { TEST_F(TestNodeFixture, test_rcl_node_accessors) {
@ -84,7 +93,17 @@ TEST_F(TestNodeFixture, test_rcl_node_accessors) {
rcl_node_options_t default_options = rcl_node_get_default_options(); rcl_node_options_t default_options = rcl_node_get_default_options();
default_options.domain_id = 42; // Set the domain id to something explicit. default_options.domain_id = 42; // Set the domain id to something explicit.
ret = rcl_node_init(&invalid_node, name, &default_options); ret = rcl_node_init(&invalid_node, name, &default_options);
if (is_windows && is_opensplice) {
// On Windows with OpenSplice, setting the domain id is not expected to work.
ASSERT_NE(RCL_RET_OK, ret);
// So retry with the default domain id setting (uses the environment as is).
default_options.domain_id = rcl_node_get_default_options().domain_id;
ret = rcl_node_init(&invalid_node, name, &default_options);
ASSERT_EQ(RCL_RET_OK, ret); ASSERT_EQ(RCL_RET_OK, ret);
} else {
// This is the normal check (not windows and windows if not opensplice)
ASSERT_EQ(RCL_RET_OK, ret);
}
auto rcl_invalid_node_exit = make_scope_exit([&invalid_node]() { auto rcl_invalid_node_exit = make_scope_exit([&invalid_node]() {
stop_memory_checking(); stop_memory_checking();
rcl_ret_t ret = rcl_node_fini(&invalid_node); rcl_ret_t ret = rcl_node_fini(&invalid_node);
@ -180,7 +199,8 @@ TEST_F(TestNodeFixture, test_rcl_node_accessors) {
assert_no_free_end(); assert_no_free_end();
stop_memory_checking(); stop_memory_checking();
EXPECT_EQ(RCL_RET_OK, ret); EXPECT_EQ(RCL_RET_OK, ret);
if (RCL_RET_OK == ret) { if (RCL_RET_OK == ret && (!is_windows || !is_opensplice)) {
// Can only expect the domain id to be 42 if not windows or not opensplice.
EXPECT_EQ(42, actual_domain_id); EXPECT_EQ(42, actual_domain_id);
} }
// Test rcl_node_get_rmw_handle(). // Test rcl_node_get_rmw_handle().
@ -302,8 +322,15 @@ TEST_F(TestNodeFixture, test_rcl_node_life_cycle) {
rcl_node_options_t options_with_custom_domain_id = rcl_node_get_default_options(); rcl_node_options_t options_with_custom_domain_id = rcl_node_get_default_options();
options_with_custom_domain_id.domain_id = 42; options_with_custom_domain_id.domain_id = 42;
ret = rcl_node_init(&node, name, &options_with_custom_domain_id); ret = rcl_node_init(&node, name, &options_with_custom_domain_id);
if (is_windows && is_opensplice) {
// A custom domain id is not expected to work on Windows with Opensplice.
EXPECT_NE(RCL_RET_OK, ret);
node = rcl_get_zero_initialized_node();
} else {
// This is the normal check.
EXPECT_EQ(RCL_RET_OK, ret); EXPECT_EQ(RCL_RET_OK, ret);
ret = rcl_node_fini(&node); ret = rcl_node_fini(&node);
EXPECT_EQ(RCL_RET_OK, ret); EXPECT_EQ(RCL_RET_OK, ret);
node = rcl_get_zero_initialized_node(); node = rcl_get_zero_initialized_node();
} }
}