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use test_msgs instead of example_interfaces (#259)

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Mikael Arguedas 2018-06-13 18:29:58 +02:00 • committed by GitHub
parent 639916df70
commit bb6ea4c124
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GPG key ID: 4AEE18F83AFDEB23
9 changed files with 73 additions and 72 deletions
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2
rcl/package.xml
View file

@ -34,9 +34,9 @@
<test_depend>rmw</test_depend>
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend>
<test_depend>example_interfaces</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>std_msgs</test_depend>
<test_depend>test_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>

16
rcl/test/CMakeLists.txt
View file

@ -1,8 +1,8 @@
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
find_package(test_msgs REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
@ -38,7 +38,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_gtest(test_time${target_suffix}
@ -99,7 +99,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" "test_msgs"
${SKIP_TEST}
)
@ -142,7 +142,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES "std_msgs" "example_interfaces"
AMENT_DEPENDENCIES "std_msgs" "test_msgs"
)
rcl_add_custom_gtest(test_guard_condition${target_suffix}
@ -169,7 +169,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_gtest(test_subscription${target_suffix}
@ -196,7 +196,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
# Launch tests
@ -205,14 +205,14 @@ function(test_target_function)
SRCS rcl/service_fixture.cpp
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_executable(client_fixture${target_suffix}
SRCS rcl/client_fixture.cpp
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)
rcl_add_custom_launch_test(test_services

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

@ -21,7 +21,7 @@
#include "rcl/client.h"
#include "rcl/rcl.h"
#include "example_interfaces/srv/add_two_ints.h"
#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -130,12 +130,12 @@ int main(int argc, char ** argv)
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
const char * topic = "add_two_ints";
test_msgs, Primitives);
const char * service_name = "primitives";
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
rcl_ret_t ret = rcl_client_init(&client, &node, ts, topic, &client_options);
rcl_ret_t ret = rcl_client_init(&client, &node, ts, service_name, &client_options);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in client init: %s", rcl_get_error_string_safe())
@ -157,10 +157,10 @@ int main(int argc, char ** argv)
}
// Initialize a request.
example_interfaces__srv__AddTwoInts_Request client_request;
example_interfaces__srv__AddTwoInts_Request__init(&client_request);
client_request.a = 1;
client_request.b = 2;
test_msgs__srv__Primitives_Request client_request;
test_msgs__srv__Primitives_Request__init(&client_request);
client_request.uint8_value = 1;
client_request.uint32_value = 2;
int64_t sequence_number;
if (rcl_send_request(&client, &client_request, &sequence_number)) {
@ -174,11 +174,11 @@ int main(int argc, char ** argv)
return -1;
}
example_interfaces__srv__AddTwoInts_Request__fini(&client_request);
test_msgs__srv__Primitives_Request__fini(&client_request);
// Initialize the response owned by the client and take the response.
example_interfaces__srv__AddTwoInts_Response client_response;
example_interfaces__srv__AddTwoInts_Response__init(&client_response);
test_msgs__srv__Primitives_Response client_response;
test_msgs__srv__Primitives_Response__init(&client_response);
if (!wait_for_client_to_be_ready(&client, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready")
@ -191,7 +191,7 @@ int main(int argc, char ** argv)
return -1;
}
example_interfaces__srv__AddTwoInts_Response__fini(&client_response);
test_msgs__srv__Primitives_Response__fini(&client_response);
}
return main_ret;

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

@ -22,7 +22,7 @@
#include "rcl/rcl.h"
#include "example_interfaces/srv/add_two_ints.h"
#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -103,12 +103,12 @@ int main(int argc, char ** argv)
});
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
const char * topic = "add_two_ints";
test_msgs, Primitives);
const char * service_name = "primitives";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(&service, &node, ts, topic, &service_options);
rcl_ret_t ret = rcl_service_init(&service, &node, ts, service_name, &service_options);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in service init: %s", rcl_get_error_string_safe())
@ -124,10 +124,10 @@ int main(int argc, char ** argv)
});
// Initialize a response.
example_interfaces__srv__AddTwoInts_Response service_response;
example_interfaces__srv__AddTwoInts_Response__init(&service_response);
test_msgs__srv__Primitives_Response service_response;
test_msgs__srv__Primitives_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
test_msgs__srv__Primitives_Response__fini(&service_response);
});
// Block until a client request comes in.
@ -138,10 +138,10 @@ int main(int argc, char ** argv)
}
// Take the pending request.
example_interfaces__srv__AddTwoInts_Request service_request;
example_interfaces__srv__AddTwoInts_Request__init(&service_request);
test_msgs__srv__Primitives_Request service_request;
test_msgs__srv__Primitives_Request__init(&service_request);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
test_msgs__srv__Primitives_Request__fini(&service_request);
});
rmw_request_id_t header;
// TODO(jacquelinekay) May have to check for timeout error codes
@ -152,7 +152,7 @@ int main(int argc, char ** argv)
}
// Sum the request and send the response.
service_response.sum = service_request.a + service_request.b;
service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
if (rcl_send_response(&service, &header, &service_response) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "Error in send_response: %s", rcl_get_error_string_safe())

14
rcl/test/rcl/test_client.cpp
View file

@ -18,8 +18,8 @@
#include "rcl/rcl.h"
#include "example_interfaces/srv/add_two_ints.h"
#include "rosidl_generator_c/string_functions.h"
#include "test_msgs/srv/primitives.h"
#include "./failing_allocator_functions.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
@ -64,7 +64,7 @@ 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(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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
@ -77,10 +77,10 @@ TEST_F(TestClientFixture, test_client_nominal) {
});
// Initialize the client request.
example_interfaces__srv__AddTwoInts_Request req;
example_interfaces__srv__AddTwoInts_Request__init(&req);
req.a = 1;
req.b = 2;
test_msgs__srv__Primitives_Request req;
test_msgs__srv__Primitives_Request__init(&req);
req.uint8_value = 1;
req.uint32_value = 2;
// Check that there were no errors while sending the request.
int64_t sequence_number = 0;
@ -98,7 +98,7 @@ TEST_F(TestClientFixture, test_client_init_fini) {
rcl_client_t client;
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
const char * topic_name = "chatter";
rcl_client_options_t default_client_options = rcl_client_get_default_options();

4
rcl/test/rcl/test_graph.cpp
View file

@ -33,7 +33,7 @@
#include "rcutils/logging_macros.h"
#include "std_msgs/msg/string.h"
#include "example_interfaces/srv/add_two_ints.h"
#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -469,7 +469,7 @@ 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(example_interfaces, AddTwoInts);
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, Primitives);
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);

19
rcl/test/rcl/test_remap_integration.cpp
View file

@ -14,11 +14,12 @@
#include <gtest/gtest.h>
#include "example_interfaces/srv/add_two_ints.h"
#include "rcl/rcl.h"
#include "rcl/remap.h"
#include "rcl/error_handling.h"
#include "std_msgs/msg/int64.h"
#include "test_msgs/srv/primitives.h"
#include "./arg_macros.hpp"
@ -81,7 +82,7 @@ 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(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);
@ -91,7 +92,7 @@ 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(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);
@ -147,7 +148,7 @@ 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(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);
@ -157,7 +158,7 @@ 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(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);
@ -214,7 +215,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Client service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);
@ -224,7 +225,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
}
{ // Server service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);
@ -266,7 +267,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
}
{ // Client service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);
@ -276,7 +277,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
}
{ // Server service name
const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
example_interfaces, AddTwoInts);
test_msgs, Primitives);
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);

40
rcl/test/rcl/test_service.cpp
View file

@ -22,7 +22,7 @@
#include "rcl/rcl.h"
#include "example_interfaces/srv/add_two_ints.h"
#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -102,9 +102,9 @@ 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(
example_interfaces, AddTwoInts);
const char * topic = "add_two_ints";
const char * expected_topic = "/add_two_ints";
test_msgs, Primitives);
const char * topic = "primitives";
const char * expected_topic = "/primitives";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
@ -149,14 +149,14 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// Initialize a request.
example_interfaces__srv__AddTwoInts_Request client_request;
example_interfaces__srv__AddTwoInts_Request__init(&client_request);
client_request.a = 1;
client_request.b = 2;
test_msgs__srv__Primitives_Request client_request;
test_msgs__srv__Primitives_Request__init(&client_request);
client_request.uint8_value = 1;
client_request.uint32_value = 2;
int64_t sequence_number;
ret = rcl_send_request(&client, &client_request, &sequence_number);
EXPECT_EQ(sequence_number, 1);
example_interfaces__srv__AddTwoInts_Request__fini(&client_request);
test_msgs__srv__Primitives_Request__fini(&client_request);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
bool success;
@ -167,35 +167,35 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
// test take_request/send_response in a single-threaded, deterministic execution.
{
// Initialize a response.
example_interfaces__srv__AddTwoInts_Response service_response;
example_interfaces__srv__AddTwoInts_Response__init(&service_response);
test_msgs__srv__Primitives_Response service_response;
test_msgs__srv__Primitives_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
test_msgs__srv__Primitives_Response__fini(&service_response);
});
// Initialize a separate instance of the request and take the pending request.
example_interfaces__srv__AddTwoInts_Request service_request;
example_interfaces__srv__AddTwoInts_Request__init(&service_request);
test_msgs__srv__Primitives_Request service_request;
test_msgs__srv__Primitives_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_safe();
EXPECT_EQ(1, service_request.a);
EXPECT_EQ(2, service_request.b);
EXPECT_EQ(1, service_request.uint8_value);
EXPECT_EQ(2UL, service_request.uint32_value);
// Simulate a response callback by summing the request and send the response..
service_response.sum = service_request.a + service_request.b;
service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
ret = rcl_send_response(&service, &header, &service_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
wait_for_service_to_be_ready(&service, 10, 100, success);
// Initialize the response owned by the client and take the response.
example_interfaces__srv__AddTwoInts_Response client_response;
example_interfaces__srv__AddTwoInts_Response__init(&client_response);
test_msgs__srv__Primitives_Response client_response;
test_msgs__srv__Primitives_Response__init(&client_response);
rmw_request_id_t header;
ret = rcl_take_response(&client, &header, &client_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(client_response.sum, 3);
EXPECT_EQ(client_response.uint64_value, 3ULL);
EXPECT_EQ(header.sequence_number, 1);
}

4
rcl/test/test_namespace.cpp
View file

@ -22,8 +22,8 @@
#include "rcl/rcl.h"
#include "rcl/graph.h"
#include "example_interfaces/srv/add_two_ints.h"
#include "rosidl_generator_c/string_functions.h"
#include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
@ -61,7 +61,7 @@ public:
*/
TEST_F(TestNamespaceFixture, test_client_server) {
rcl_ret_t ret;
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, Primitives);
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";