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use test_msgs instead of std_msgs in tests (#270)

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Mikael Arguedas 2018-07-17 13:24:39 -07:00 • committed by GitHub
parent c21a250a06
commit d3a734f266
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6 changed files with 75 additions and 85 deletions
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1
rcl/package.xml
View file

@ -35,7 +35,6 @@
<test_depend>rmw_implementation_cmake</test_depend> <test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend> <test_depend>launch</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend> <test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>std_msgs</test_depend>
<test_depend>test_msgs</test_depend> <test_depend>test_msgs</test_depend>
<export> <export>

9
rcl/test/CMakeLists.txt
View file

@ -1,7 +1,6 @@
find_package(ament_cmake_gtest REQUIRED) find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED) find_package(ament_cmake_pytest REQUIRED)
find_package(std_msgs REQUIRED)
find_package(test_msgs REQUIRED) find_package(test_msgs REQUIRED)
find_package(rmw_implementation_cmake REQUIRED) find_package(rmw_implementation_cmake REQUIRED)
@ -99,7 +98,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var} ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" "test_msgs" AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
${SKIP_TEST} ${SKIP_TEST}
) )
@ -142,7 +141,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var} ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES "std_msgs" "test_msgs" AMENT_DEPENDENCIES "test_msgs"
) )
rcl_add_custom_gtest(test_guard_condition${target_suffix} rcl_add_custom_gtest(test_guard_condition${target_suffix}
@ -160,7 +159,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var} ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
) )
rcl_add_custom_gtest(test_service${target_suffix} rcl_add_custom_gtest(test_service${target_suffix}
@ -178,7 +177,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var} ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs} APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
) )
rcl_add_custom_gtest(test_wait${target_suffix} rcl_add_custom_gtest(test_wait${target_suffix}

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

@ -32,7 +32,7 @@
#include "rcutils/logging_macros.h" #include "rcutils/logging_macros.h"
#include "std_msgs/msg/string.h" #include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h" #include "test_msgs/srv/primitives.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp" #include "osrf_testing_tools_cpp/scope_exit.hpp"
@ -333,7 +333,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
// Now create a publisher on "topic_name" and check that it is seen. // Now create a publisher on "topic_name" and check that it is seen.
rcl_publisher_t pub = rcl_get_zero_initialized_publisher(); rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options(); rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String); auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops); 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_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_reset_error(); rcl_reset_error();
@ -410,7 +410,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_publisher_t pub = rcl_get_zero_initialized_publisher(); rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options(); rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init( rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String), &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
"/chatter_test_graph_guard_condition_topics", &pub_ops); "/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep // sleep
@ -419,7 +419,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_subscription_t sub = rcl_get_zero_initialized_subscription(); rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options(); rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init( ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String), &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
"/chatter_test_graph_guard_condition_topics", &sub_ops); "/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep // sleep

61
rcl/test/rcl/test_publisher.cpp
View file

@ -17,8 +17,7 @@
#include "rcl/publisher.h" #include "rcl/publisher.h"
#include "rcl/rcl.h" #include "rcl/rcl.h"
#include "std_msgs/msg/int64.h" #include "test_msgs/msg/primitives.h"
#include "std_msgs/msg/string.h"
#include "rosidl_generator_c/string_functions.h" #include "rosidl_generator_c/string_functions.h"
#include "./failing_allocator_functions.hpp" #include "./failing_allocator_functions.hpp"
@ -64,19 +63,10 @@ public:
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal) { TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
// TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved: ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
// ======================================================================================== const char * topic_name = "chatter";
// Report : WARNING const char * expected_topic_name = "/chatter";
// Date : Wed Feb 10 18:17:03 PST 2016
// Description : Create Topic "chatter" failed: typename <std_msgs::msg::dds_::Int64_>
// differs exiting definition <std_msgs::msg::dds_::String_>.
// Node : farl
// Process : test_subscription__rmw_opensplice_cpp <23524>
// Thread : main thread 7fff7342d000
// Internals : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
const char * topic_name = "chatter_int64";
const char * expected_topic_name = "/chatter_int64";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options); ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@ -85,11 +75,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}); });
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0); EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
std_msgs__msg__Int64 msg; test_msgs__msg__Primitives msg;
std_msgs__msg__Int64__init(&msg); test_msgs__msg__Primitives__init(&msg);
msg.data = 42; msg.int64_value = 42;
ret = rcl_publish(&publisher, &msg); ret = rcl_publish(&publisher, &msg);
std_msgs__msg__Int64__fini(&msg); test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
} }
@ -98,7 +88,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal_string) { TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal_string) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "chatter"; const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options); ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
@ -107,11 +98,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr); rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}); });
std_msgs__msg__String msg; test_msgs__msg__Primitives msg;
std_msgs__msg__String__init(&msg); test_msgs__msg__Primitives__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, "testing")); ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
ret = rcl_publish(&publisher, &msg); ret = rcl_publish(&publisher, &msg);
std_msgs__msg__String__fini(&msg); test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
} }
@ -124,7 +115,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) { TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_int = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts_int =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "basename"; const char * topic_name = "basename";
const char * expected_topic_name = "/basename"; const char * expected_topic_name = "/basename";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@ -138,7 +130,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT( const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT(
std_msgs, msg, String); test_msgs, msg, Primitives);
topic_name = "namespace/basename"; topic_name = "namespace/basename";
expected_topic_name = "/namespace/basename"; expected_topic_name = "/namespace/basename";
ret = rcl_publisher_init( ret = rcl_publisher_init(
@ -150,16 +142,16 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
}); });
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0); EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);
std_msgs__msg__Int64 msg_int; test_msgs__msg__Primitives msg_int;
std_msgs__msg__Int64__init(&msg_int); test_msgs__msg__Primitives__init(&msg_int);
msg_int.data = 42; msg_int.int64_value = 42;
ret = rcl_publish(&publisher, &msg_int); ret = rcl_publish(&publisher, &msg_int);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
std_msgs__msg__Int64__fini(&msg_int); test_msgs__msg__Primitives__fini(&msg_int);
std_msgs__msg__String msg_string; test_msgs__msg__Primitives msg_string;
std_msgs__msg__String__init(&msg_string); test_msgs__msg__Primitives__init(&msg_string);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.data, "testing")); ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.string_value, "testing"));
ret = rcl_publish(&publisher_in_namespace, &msg_string); ret = rcl_publish(&publisher_in_namespace, &msg_string);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
} }
@ -170,7 +162,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
rcl_ret_t ret; rcl_ret_t ret;
// Setup valid inputs. // Setup valid inputs.
rcl_publisher_t publisher; rcl_publisher_t publisher;
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "chatter"; const char * topic_name = "chatter";
rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();

26
rcl/test/rcl/test_remap_integration.cpp
View file

@ -18,7 +18,7 @@
#include "rcl/remap.h" #include "rcl/remap.h"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "std_msgs/msg/int64.h" #include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h" #include "test_msgs/srv/primitives.h"
#include "./arg_macros.hpp" #include "./arg_macros.hpp"
@ -62,7 +62,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
EXPECT_STREQ("new_ns.new_name", rcl_node_get_logger_name(&node)); EXPECT_STREQ("new_ns.new_name", rcl_node_get_logger_name(&node));
} }
{ // Publisher topic gets remapped { // Publisher topic gets remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options); rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@ -71,7 +72,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node)); EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
} }
{ // Subscription topic gets remapped { // Subscription topic gets remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options(); rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription(); rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init( rcl_ret_t ret = rcl_subscription_init(
@ -128,7 +130,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
EXPECT_STREQ("original_ns.original_name", rcl_node_get_logger_name(&node)); EXPECT_STREQ("original_ns.original_name", rcl_node_get_logger_name(&node));
} }
{ // Publisher topic does not get remapped { // Publisher topic does not get remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options); rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@ -137,7 +140,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node)); EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
} }
{ // Subscription topic does not get remapped { // Subscription topic does not get remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options(); rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription(); rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init( rcl_ret_t ret = rcl_subscription_init(
@ -195,7 +199,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
EXPECT_STREQ("local_ns.local_name", rcl_node_get_logger_name(&node)); EXPECT_STREQ("local_ns.local_name", rcl_node_get_logger_name(&node));
} }
{ // Publisher topic { // Publisher topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options); rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@ -204,7 +209,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node)); EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
} }
{ // Subscription topic { // Subscription topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options(); rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription(); rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init( rcl_ret_t ret = rcl_subscription_init(
@ -247,7 +253,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
ASSERT_EQ(RCL_RET_OK, rcl_node_init(&node, "original_name", "/foo", &default_options)); ASSERT_EQ(RCL_RET_OK, rcl_node_init(&node, "original_name", "/foo", &default_options));
{ // Publisher topic { // Publisher topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "bar", &publisher_options); rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "bar", &publisher_options);
@ -256,7 +263,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node)); EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
} }
{ // Subscription topic { // Subscription topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options(); rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription(); rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init( rcl_ret_t ret = rcl_subscription_init(

55
rcl/test/rcl/test_subscription.cpp
View file

@ -21,8 +21,7 @@
#include "rcl/subscription.h" #include "rcl/subscription.h"
#include "rcl/rcl.h" #include "rcl/rcl.h"
#include "std_msgs/msg/int64.h" #include "test_msgs/msg/primitives.h"
#include "std_msgs/msg/string.h"
#include "rosidl_generator_c/string_functions.h" #include "rosidl_generator_c/string_functions.h"
#include "osrf_testing_tools_cpp/scope_exit.hpp" #include "osrf_testing_tools_cpp/scope_exit.hpp"
@ -103,19 +102,10 @@ wait_for_subscription_to_be_ready(
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) { TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64); const rosidl_message_type_support_t * ts =
// TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved: ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
// ======================================================================================== const char * topic = "chatter";
// Report : WARNING const char * expected_topic = "/chatter";
// Date : Wed Feb 10 18:17:03 PST 2016
// Description : Create Topic "chatter" failed: typename <std_msgs::msg::dds_::Int64_>
// differs exiting definition <std_msgs::msg::dds_::String_>.
// Node : farl
// Process : test_subscription__rmw_opensplice_cpp <23524>
// Thread : main thread 7fff7342d000
// Internals : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
const char * topic = "rcl_test_subscription_nominal_chatter_int64";
const char * expected_topic = "/rcl_test_subscription_nominal_chatter_int64";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options); ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@ -154,25 +144,25 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
// until then we will sleep for a short period of time // until then we will sleep for a short period of time
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); std::this_thread::sleep_for(std::chrono::milliseconds(1000));
{ {
std_msgs__msg__Int64 msg; test_msgs__msg__Primitives msg;
std_msgs__msg__Int64__init(&msg); test_msgs__msg__Primitives__init(&msg);
msg.data = 42; msg.int64_value = 42;
ret = rcl_publish(&publisher, &msg); ret = rcl_publish(&publisher, &msg);
std_msgs__msg__Int64__fini(&msg); test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
} }
bool success; bool success;
wait_for_subscription_to_be_ready(&subscription, 10, 100, success); wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
ASSERT_TRUE(success); ASSERT_TRUE(success);
{ {
std_msgs__msg__Int64 msg; test_msgs__msg__Primitives msg;
std_msgs__msg__Int64__init(&msg); test_msgs__msg__Primitives__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
std_msgs__msg__Int64__fini(&msg); test_msgs__msg__Primitives__fini(&msg);
}); });
ret = rcl_take(&subscription, &msg, nullptr); ret = rcl_take(&subscription, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ASSERT_EQ(42, msg.data); ASSERT_EQ(42, msg.int64_value);
} }
} }
@ -181,7 +171,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal_string) { TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal_string) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String); const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic = "rcl_test_subscription_nominal_string_chatter"; const char * topic = "rcl_test_subscription_nominal_string_chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options(); rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options); ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
@ -204,24 +195,24 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); std::this_thread::sleep_for(std::chrono::milliseconds(1000));
const char * test_string = "testing"; const char * test_string = "testing";
{ {
std_msgs__msg__String msg; test_msgs__msg__Primitives msg;
std_msgs__msg__String__init(&msg); test_msgs__msg__Primitives__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, test_string)); ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
ret = rcl_publish(&publisher, &msg); ret = rcl_publish(&publisher, &msg);
std_msgs__msg__String__fini(&msg); test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
} }
bool success; bool success;
wait_for_subscription_to_be_ready(&subscription, 10, 100, success); wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
ASSERT_TRUE(success); ASSERT_TRUE(success);
{ {
std_msgs__msg__String msg; test_msgs__msg__Primitives msg;
std_msgs__msg__String__init(&msg); test_msgs__msg__Primitives__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({ OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
std_msgs__msg__String__fini(&msg); test_msgs__msg__Primitives__fini(&msg);
}); });
ret = rcl_take(&subscription, &msg, nullptr); ret = rcl_take(&subscription, &msg, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ASSERT_EQ(std::string(test_string), std::string(msg.data.data, msg.data.size)); ASSERT_EQ(std::string(test_string), std::string(msg.string_value.data, msg.string_value.size));
} }
} }