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Test_rcl_get_publishers_subscription_info_by_topic: fixed missing initialization and fixed qos checking (#571)

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Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
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Dennis Potman 2020-02-10 15:16:49 +01:00 • committed by GitHub
parent 19d53bc9e5
commit 41f4fba966
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1 changed files with 10 additions and 6 deletions
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16
rcl/test/rcl/test_info_by_topic.cpp
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@ -107,12 +107,16 @@ public:
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} }
void assert_qos_equality(rmw_qos_profile_t qos_profile1, rmw_qos_profile_t qos_profile2) void assert_qos_equality(
rmw_qos_profile_t qos_profile1, rmw_qos_profile_t qos_profile2,
bool is_publisher)
{ {
EXPECT_EQ(qos_profile1.deadline.sec, qos_profile2.deadline.sec); EXPECT_EQ(qos_profile1.deadline.sec, qos_profile2.deadline.sec);
EXPECT_EQ(qos_profile1.deadline.nsec, qos_profile2.deadline.nsec); EXPECT_EQ(qos_profile1.deadline.nsec, qos_profile2.deadline.nsec);
EXPECT_EQ(qos_profile1.lifespan.sec, qos_profile2.lifespan.sec); if (is_publisher) {
EXPECT_EQ(qos_profile1.lifespan.nsec, qos_profile2.lifespan.nsec); EXPECT_EQ(qos_profile1.lifespan.sec, qos_profile2.lifespan.sec);
EXPECT_EQ(qos_profile1.lifespan.nsec, qos_profile2.lifespan.nsec);
}
EXPECT_EQ(qos_profile1.reliability, qos_profile2.reliability); EXPECT_EQ(qos_profile1.reliability, qos_profile2.reliability);
EXPECT_EQ(qos_profile1.liveliness, qos_profile2.liveliness); EXPECT_EQ(qos_profile1.liveliness, qos_profile2.liveliness);
EXPECT_EQ( EXPECT_EQ(
@ -323,7 +327,7 @@ TEST_F(
if (!is_fastrtps) { if (!is_fastrtps) {
GTEST_SKIP(); GTEST_SKIP();
} }
rmw_qos_profile_t default_qos_profile; rmw_qos_profile_t default_qos_profile = rmw_qos_profile_system_default;
default_qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST; default_qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
default_qos_profile.depth = 0; default_qos_profile.depth = 0;
default_qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; default_qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
@ -371,7 +375,7 @@ TEST_F(
EXPECT_STREQ(topic_endpoint_info_pub.node_name, this->test_graph_node_name); EXPECT_STREQ(topic_endpoint_info_pub.node_name, this->test_graph_node_name);
EXPECT_STREQ(topic_endpoint_info_pub.node_namespace, "/"); EXPECT_STREQ(topic_endpoint_info_pub.node_namespace, "/");
EXPECT_STREQ(topic_endpoint_info_pub.topic_type, "test_msgs/msg/Strings"); EXPECT_STREQ(topic_endpoint_info_pub.topic_type, "test_msgs/msg/Strings");
assert_qos_equality(topic_endpoint_info_pub.qos_profile, default_qos_profile); assert_qos_equality(topic_endpoint_info_pub.qos_profile, default_qos_profile, true);
rmw_topic_endpoint_info_array_t topic_endpoint_info_array_sub = rmw_topic_endpoint_info_array_t topic_endpoint_info_array_sub =
rmw_get_zero_initialized_topic_endpoint_info_array(); rmw_get_zero_initialized_topic_endpoint_info_array();
@ -384,7 +388,7 @@ TEST_F(
EXPECT_STREQ(topic_endpoint_info_sub.node_name, this->test_graph_node_name); EXPECT_STREQ(topic_endpoint_info_sub.node_name, this->test_graph_node_name);
EXPECT_STREQ(topic_endpoint_info_sub.node_namespace, "/"); EXPECT_STREQ(topic_endpoint_info_sub.node_namespace, "/");
EXPECT_STREQ(topic_endpoint_info_sub.topic_type, "test_msgs/msg/Strings"); EXPECT_STREQ(topic_endpoint_info_sub.topic_type, "test_msgs/msg/Strings");
assert_qos_equality(topic_endpoint_info_sub.qos_profile, default_qos_profile); assert_qos_equality(topic_endpoint_info_sub.qos_profile, default_qos_profile, false);
// clean up // clean up
rmw_ret_t rmw_ret = rmw_ret_t rmw_ret =