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Merge pull request #351 from apojomovsky/apojomovsky/run_communication_tests_against_rmw_implementations

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Enable test_action_communication to compile against available rmw
This commit is contained in:
Alexis Pojomovsky 2018-12-06 15:11:18 -03:00 • committed by GitHub
commit a30ccdf894
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1 changed files with 56 additions and 12 deletions
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68
rcl_action/CMakeLists.txt
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@ -9,6 +9,7 @@ find_package(action_msgs REQUIRED)
find_package(rcl REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
include_directories(
include
@ -95,19 +96,62 @@ if(BUILD_TESTING)
)
ament_target_dependencies(test_action_client "rcl" "test_msgs")
endif()
ament_add_gtest(test_action_communication
test/rcl_action/test_action_communication.cpp
)
if(TARGET test_action_communication)
target_include_directories(test_action_communication PUBLIC
include
${rcl_INCLUDE_DIRS}
# get the rmw implementations ahead of time
find_package(rmw_implementation_cmake REQUIRED)
get_available_rmw_implementations(rmw_implementations)
foreach(rmw_implementation ${rmw_implementations})
find_package("${rmw_implementation}" REQUIRED)
endforeach()
function(custom_test_c target)
ament_add_gtest(
"test_action_communication_${target_suffix}" ${ARGN}
TIMEOUT 60
APPEND_LIBRARY_DIRS "${append_library_dirs}"
ENV
RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
RMW_IMPLEMENTATION=${rmw_implementation}
ROS_SECURITY_ROOT_DIRECTORY="${VALID_ROS_SECURITY_ROOT_DIRECTORY}"
PATH="${TEST_PATH}"
)
target_link_libraries(test_action_communication
${PROJECT_NAME}
)
ament_target_dependencies(test_action_communication "test_msgs")
endif()
if(TARGET test_action_communication_${target_suffix})
target_compile_definitions(test_action_communication_${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
target_include_directories(test_action_communication_${target_suffix} PUBLIC
include
${rcl_INCLUDE_DIRS}
)
target_link_libraries(test_action_communication_${target_suffix}
${PROJECT_NAME}
)
ament_target_dependencies(test_action_communication_${target_suffix}
"test_msgs")
endif()
endfunction()
macro(targets)
set(VALID_ROS_SECURITY_ROOT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/test/test_security_files")
set(ENV_PATH "$ENV{PATH}")
file(TO_CMAKE_PATH "${ENV_PATH}" ENV_PATH)
set(TEST_PATH "${ENV_PATH}")
if(rmw_implementation STREQUAL "rmw_connext_cpp")
if(UNIX AND NOT APPLE)
set(RTI_BIN_PATH "$ENV{RTI_OPENSSL_BIN}")
file(TO_CMAKE_PATH "${RTI_BIN_PATH}" RTI_BIN_PATH)
set(TEST_PATH "${RTI_BIN_PATH};${ENV_PATH}")
if(NOT WIN32)
string(REPLACE ";" ":" TEST_PATH "${TEST_PATH}")
endif()
endif()
endif()
custom_test_c(rcl_action
"test/rcl_action/test_action_communication.cpp")
endmacro()
call_for_each_rmw_implementation(targets)
ament_add_gtest(test_action_server
test/rcl_action/test_action_server.cpp
)