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Use new test interface definitions

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Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-04-30 18:00:46 -07:00
parent 4f07417370
commit 4262d4cb29
11 changed files with 109 additions and 108 deletions
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22
rcl/test/rcl/client_fixture.cpp
View file

@ -22,7 +22,7 @@
#include "rcl/client.h"
#include "rcl/rcl.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -153,8 +153,8 @@ int main(int argc, char ** argv)
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
const char * service_name = "primitives";
test_msgs, srv, BasicTypes);
const char * service_name = "basic_types";
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
@ -180,11 +180,11 @@ int main(int argc, char ** argv)
}
// Initialize a request.
test_msgs__srv__Primitives_Request client_request;
test_msgs__srv__BasicTypes_Request client_request;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&client_request, 0, sizeof(test_msgs__srv__Primitives_Request));
test_msgs__srv__Primitives_Request__init(&client_request);
memset(&client_request, 0, sizeof(test_msgs__srv__BasicTypes_Request));
test_msgs__srv__BasicTypes_Request__init(&client_request);
client_request.uint8_value = 1;
client_request.uint32_value = 2;
int64_t sequence_number;
@ -200,14 +200,14 @@ int main(int argc, char ** argv)
return -1;
}
test_msgs__srv__Primitives_Request__fini(&client_request);
test_msgs__srv__BasicTypes_Request__fini(&client_request);
// Initialize the response owned by the client and take the response.
test_msgs__srv__Primitives_Response client_response;
test_msgs__srv__BasicTypes_Response client_response;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&client_response, 0, sizeof(test_msgs__srv__Primitives_Response));
test_msgs__srv__Primitives_Response__init(&client_response);
memset(&client_response, 0, sizeof(test_msgs__srv__BasicTypes_Response));
test_msgs__srv__BasicTypes_Response__init(&client_response);
if (!wait_for_client_to_be_ready(&client, &context, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready");
@ -220,7 +220,7 @@ int main(int argc, char ** argv)
return -1;
}
test_msgs__srv__Primitives_Response__fini(&client_response);
test_msgs__srv__BasicTypes_Response__fini(&client_response);
}
return main_ret;

22
rcl/test/rcl/service_fixture.cpp
View file

@ -23,7 +23,7 @@
#include "rcl/rcl.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -126,8 +126,8 @@ int main(int argc, char ** argv)
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
const char * service_name = "primitives";
test_msgs, srv, BasicTypes);
const char * service_name = "basic_types";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
@ -147,13 +147,13 @@ int main(int argc, char ** argv)
});
// Initialize a response.
test_msgs__srv__Primitives_Response service_response;
test_msgs__srv__BasicTypes_Response service_response;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&service_response, 0, sizeof(test_msgs__srv__Primitives_Response));
test_msgs__srv__Primitives_Response__init(&service_response);
memset(&service_response, 0, sizeof(test_msgs__srv__BasicTypes_Response));
test_msgs__srv__BasicTypes_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
test_msgs__srv__Primitives_Response__fini(&service_response);
test_msgs__srv__BasicTypes_Response__fini(&service_response);
});
// Block until a client request comes in.
@ -164,13 +164,13 @@ int main(int argc, char ** argv)
}
// Take the pending request.
test_msgs__srv__Primitives_Request service_request;
test_msgs__srv__BasicTypes_Request service_request;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&service_request, 0, sizeof(test_msgs__srv__Primitives_Request));
test_msgs__srv__Primitives_Request__init(&service_request);
memset(&service_request, 0, sizeof(test_msgs__srv__BasicTypes_Request));
test_msgs__srv__BasicTypes_Request__init(&service_request);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
test_msgs__srv__Primitives_Request__fini(&service_request);
test_msgs__srv__BasicTypes_Request__fini(&service_request);
});
rmw_request_id_t header;
// TODO(jacquelinekay) May have to check for timeout error codes

11
rcl/test/rcl/test_client.cpp
View file

@ -18,8 +18,7 @@
#include "rcl/rcl.h"
#include "rosidl_generator_c/string_functions.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"
#include "./failing_allocator_functions.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
@ -76,7 +75,7 @@ TEST_F(TestClientFixture, test_client_nominal) {
rcl_client_options_t client_options = rcl_client_get_default_options();
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);
// Check the return code of initialization and that the service name matches what's expected
@ -89,8 +88,8 @@ TEST_F(TestClientFixture, test_client_nominal) {
});
// Initialize the client request.
test_msgs__srv__Primitives_Request req;
test_msgs__srv__Primitives_Request__init(&req);
test_msgs__srv__BasicTypes_Request req;
test_msgs__srv__BasicTypes_Request__init(&req);
req.uint8_value = 1;
req.uint32_value = 2;
@ -110,7 +109,7 @@ TEST_F(TestClientFixture, test_client_init_fini) {
rcl_client_t client;
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
const char * topic_name = "chatter";
rcl_client_options_t default_client_options = rcl_client_get_default_options();

8
rcl/test/rcl/test_count_matched.cpp
View file

@ -23,8 +23,8 @@
#include "rcutils/logging_macros.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/srv/basic_types.h"
#include "rcl/error_handling.h"
@ -152,7 +152,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_funct
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
@ -202,7 +202,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
pub_ops.qos.avoid_ros_namespace_conventions = false;
pub_ops.allocator = rcl_get_default_allocator();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();

6
rcl/test/rcl/test_get_actual_qos.cpp
View file

@ -24,8 +24,8 @@
#include "rcutils/logging_macros.h"
#include "rcutils/macros.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/srv/basic_types.h"
#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@ -116,7 +116,7 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
pub_ops.qos = parameters.qos_to_set;
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();

18
rcl/test/rcl/test_graph.cpp
View file

@ -35,8 +35,8 @@
#include "rcutils/logging_macros.h"
#include "rcutils/logging.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/srv/basic_types.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
@ -899,7 +899,7 @@ public:
TEST_F(NodeGraphMultiNodeFixture, test_node_info_subscriptions)
{
rcl_ret_t ret;
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
// Create two subscribers.
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
@ -935,7 +935,7 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
// Now create a publisher on "topic_name" and check that it is seen.
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, this->topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
@ -955,7 +955,7 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
const char * service_name = "test_service";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
auto ts1 = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, Primitives);
auto ts1 = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
ret = rcl_service_init(&service, this->node_ptr, ts1, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 1}, expected_node_state{1, 0, 0});
@ -991,7 +991,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
// Now create a publisher on "topic_name" and check that it is seen.
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
@ -1068,7 +1068,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
@ -1077,7 +1077,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
@ -1127,7 +1127,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
rcl_ret_t ret;
// First create a client which will be used to call the function.
rcl_client_t client = rcl_get_zero_initialized_client();
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, Primitives);
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
const char * service_name = "/service_test_rcl_service_server_is_available";
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);

35
rcl/test/rcl/test_publisher.cpp
View file

@ -17,7 +17,8 @@
#include "rcl/publisher.h"
#include "rcl/rcl.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/msg/strings.h"
#include "rosidl_generator_c/string_functions.h"
#include "./failing_allocator_functions.hpp"
@ -78,7 +79,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic_name = "chatter";
const char * expected_topic_name = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@ -89,11 +90,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__BasicTypes msg;
test_msgs__msg__BasicTypes__init(&msg);
msg.int64_value = 42;
ret = rcl_publish(&publisher, &msg);
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__BasicTypes__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
@ -103,7 +104,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
@ -112,11 +113,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
ret = rcl_publish(&publisher, &msg);
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
@ -130,7 +131,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_int =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic_name = "basename";
const char * expected_topic_name = "/basename";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@ -144,7 +145,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT(
test_msgs, msg, Primitives);
test_msgs, msg, Strings);
topic_name = "namespace/basename";
expected_topic_name = "/namespace/basename";
ret = rcl_publisher_init(
@ -156,15 +157,15 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);
test_msgs__msg__Primitives msg_int;
test_msgs__msg__Primitives__init(&msg_int);
test_msgs__msg__BasicTypes msg_int;
test_msgs__msg__BasicTypes__init(&msg_int);
msg_int.int64_value = 42;
ret = rcl_publish(&publisher, &msg_int);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_msgs__msg__Primitives__fini(&msg_int);
test_msgs__msg__BasicTypes__fini(&msg_int);
test_msgs__msg__Primitives msg_string;
test_msgs__msg__Primitives__init(&msg_string);
test_msgs__msg__Strings msg_string;
test_msgs__msg__Strings__init(&msg_string);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.string_value, "testing"));
ret = rcl_publish(&publisher_in_namespace, &msg_string);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -177,7 +178,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
// Setup valid inputs.
rcl_publisher_t publisher;
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic_name = "chatter";
rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();

36
rcl/test/rcl/test_remap_integration.cpp
View file

@ -18,8 +18,8 @@
#include "rcl/remap.h"
#include "rcl/error_handling.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/srv/basic_types.h"
#include "./arg_macros.hpp"
@ -65,7 +65,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
}
{ // Publisher topic gets remapped
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@ -75,7 +75,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
}
{ // Subscription topic gets remapped
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
@ -86,7 +86,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
}
{ // Client service name gets remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@ -96,7 +96,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
}
{ // Server service name gets remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@ -133,7 +133,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
}
{ // Publisher topic does not get remapped
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@ -143,7 +143,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
}
{ // Subscription topic does not get remapped
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
@ -154,7 +154,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
}
{ // Client service name does not get remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@ -164,7 +164,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
}
{ // Server service name does not get remapped
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@ -202,7 +202,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Publisher topic
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@ -212,7 +212,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Subscription topic
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
@ -223,7 +223,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Client service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@ -233,7 +233,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Server service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@ -256,7 +256,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
{ // Publisher topic
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "bar", &publisher_options);
@ -266,7 +266,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
}
{ // Subscription topic
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
@ -277,7 +277,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
}
{ // Client service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, "bar", &client_options);
@ -287,7 +287,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
}
{ // Server service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, "bar", &service_options);

24
rcl/test/rcl/test_service.cpp
View file

@ -22,7 +22,7 @@
#include "rcl/rcl.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -117,7 +117,7 @@ wait_for_service_to_be_ready(
TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
rcl_ret_t ret;
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
const char * topic = "primitives";
const char * expected_topic = "/primitives";
@ -164,8 +164,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// Initialize a request.
test_msgs__srv__Primitives_Request client_request;
test_msgs__srv__Primitives_Request__init(&client_request);
test_msgs__srv__BasicTypes_Request client_request;
test_msgs__srv__BasicTypes_Request__init(&client_request);
// TODO(clalancette): the C __init methods do not initialize all structure
// members, so the numbers in the fields not explicitly set is arbitrary.
// The CDR deserialization in Fast-CDR requires a 0 or 1 for bool fields,
@ -177,7 +177,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
int64_t sequence_number;
ret = rcl_send_request(&client, &client_request, &sequence_number);
EXPECT_EQ(sequence_number, 1);
test_msgs__srv__Primitives_Request__fini(&client_request);
test_msgs__srv__BasicTypes_Request__fini(&client_request);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
bool success;
@ -188,15 +188,15 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// test take_request/send_response in a single-threaded, deterministic execution.
{
// Initialize a response.
test_msgs__srv__Primitives_Response service_response;
test_msgs__srv__Primitives_Response__init(&service_response);
test_msgs__srv__BasicTypes_Response service_response;
test_msgs__srv__BasicTypes_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
test_msgs__srv__Primitives_Response__fini(&service_response);
test_msgs__srv__BasicTypes_Response__fini(&service_response);
});
// Initialize a separate instance of the request and take the pending request.
test_msgs__srv__Primitives_Request service_request;
test_msgs__srv__Primitives_Request__init(&service_request);
test_msgs__srv__BasicTypes_Request service_request;
test_msgs__srv__BasicTypes_Request__init(&service_request);
rmw_request_id_t header;
ret = rcl_take_request(&service, &header, &service_request);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -211,8 +211,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
wait_for_service_to_be_ready(&service, context_ptr, 10, 100, success);
// Initialize the response owned by the client and take the response.
test_msgs__srv__Primitives_Response client_response;
test_msgs__srv__Primitives_Response__init(&client_response);
test_msgs__srv__BasicTypes_Response client_response;
test_msgs__srv__BasicTypes_Response__init(&client_response);
rmw_request_id_t header;
ret = rcl_take_response(&client, &header, &client_response);

31
rcl/test/rcl/test_subscription.cpp
View file

@ -21,7 +21,8 @@
#include "rcl/subscription.h"
#include "rcl/rcl.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/msg/strings.h"
#include "rosidl_generator_c/string_functions.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
@ -118,7 +119,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic = "chatter";
const char * expected_topic = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@ -159,21 +160,21 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
// until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
{
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__BasicTypes msg;
test_msgs__msg__BasicTypes__init(&msg);
msg.int64_value = 42;
ret = rcl_publish(&publisher, &msg);
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__BasicTypes__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
bool success;
wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100, success);
ASSERT_TRUE(success);
{
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__BasicTypes msg;
test_msgs__msg__BasicTypes__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__BasicTypes__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@ -187,7 +188,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
const char * topic = "rcl_test_subscription_nominal_string_chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
@ -210,21 +211,21 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
const char * test_string = "testing";
{
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg);
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
bool success;
wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100, success);
ASSERT_TRUE(success);
{
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

4
rcl/test/test_namespace.cpp
View file

@ -23,7 +23,7 @@
#include "rcl/graph.h"
#include "rosidl_generator_c/string_functions.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -75,7 +75,7 @@ public:
*/
TEST_F(TestNamespaceFixture, test_client_server) {
rcl_ret_t ret;
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, Primitives);
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
const char * service_name = "/my/namespace/test_namespace_client_server";
const char * unmatched_client_name = "/your/namespace/test_namespace_client_server";
const char * matched_client_name = "/my/namespace/test_namespace_client_server";