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Merge pull request #120 from ros2/reenable_node_get_graph_guard_condition_tests

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reenable tests for rcl_node_get_graph_guard_condition for all rmw impl
This commit is contained in:
Dirk Thomas 2017-06-01 20:35:02 -07:00 • committed by GitHub
commit e86f7a667a
3 changed files with 33 additions and 29 deletions
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5
rcl/test/CMakeLists.txt
View file

@ -64,10 +64,9 @@ function(test_target_function)
)
set(SKIP_TEST "")
# TODO(wjwwood): remove this when the graph API works properly for FastRTPS
# TODO(wjwwood): remove this when the graph API works properly for connext dynamic
if(
rmw_implementation STREQUAL "rmw_connext_dynamic_cpp" OR
rmw_implementation STREQUAL "rmw_fastrtps_cpp"
rmw_implementation STREQUAL "rmw_connext_dynamic_cpp"
)
message(STATUS "Skipping test_graph${target_suffix} test.")
set(SKIP_TEST "SKIP_TEST")

12
rcl/test/rcl/test_graph.cpp
View file

@ -263,7 +263,7 @@ check_graph_state(
rcl_reset_error();
is_in_tnat = false;
for (size_t i = 0; RCL_RET_OK == ret && i < tnat.topic_count; ++i) {
if (topic_name == std::string(tnat.topic_names[i])) {
if (topic_name == tnat.topic_names[i]) {
ASSERT_FALSE(is_in_tnat) << "duplicates in the tnat"; // Found it more than once!
is_in_tnat = true;
}
@ -288,6 +288,16 @@ check_graph_state(
{
printf(" state correct!\n");
break;
} else {
if (expected_publisher_count != publisher_count) {
printf(" pub count incorrect!\n");
}
if (expected_subscriber_count != subscriber_count) {
printf(" sub count incorrect!\n");
}
if (expected_in_tnat != is_in_tnat) {
printf(" in tnat incorrect!\n");
}
}
// Wait for graph change before trying again.
if ((i + 1) == number_of_tries) {

5
rcl/test/rcl/test_node.cpp
View file

@ -272,10 +272,6 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
stop_memory_checking();
EXPECT_NE(0u, instance_id);
// Test rcl_node_get_graph_guard_condition
std::string rmw_id(rmw_get_implementation_identifier());
if (rmw_id.find("opensplice") != std::string::npos) {
// Only test with opensplice for now, as connext and fastrtps are not working.
// TODO(wjwwood): remove this check when more middlewares implement this
const rcl_guard_condition_t * graph_guard_condition = nullptr;
graph_guard_condition = rcl_node_get_graph_guard_condition(nullptr);
EXPECT_EQ(nullptr, graph_guard_condition);
@ -296,7 +292,6 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
assert_no_free_end();
stop_memory_checking();
EXPECT_NE(nullptr, graph_guard_condition);
}
}
/* Tests the node life cycle, including rcl_node_init() and rcl_node_fini().