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Adjust test_static_executor_entities_collector for rmw_connext_cpp (#1251)

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It turns out rmw_connext_cpp adds a default waitable that other rmw
implementations do not. Adjusting the unit test to take this into
account in a non-rmw specific manner.

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-07-31 13:33:51 -07:00
parent 48f956a3e3
commit 41d5f24425
1 changed files with 5 additions and 1 deletions
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6
rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
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@ -227,7 +227,7 @@ public:
TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) { TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
auto node = std::make_shared<rclcpp::Node>("node", "ns"); auto node = std::make_shared<rclcpp::Node>("node", "ns");
const auto expected_number_of_entities = get_number_of_default_entities(node); auto expected_number_of_entities = get_number_of_default_entities(node);
EXPECT_NE(nullptr, expected_number_of_entities); EXPECT_NE(nullptr, expected_number_of_entities);
// Create 1 of each entity type // Create 1 of each entity type
@ -244,6 +244,10 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
test_msgs::srv::Empty::Response::SharedPtr) {}); test_msgs::srv::Empty::Response::SharedPtr) {});
auto client = node->create_client<test_msgs::srv::Empty>("service"); auto client = node->create_client<test_msgs::srv::Empty>("service");
auto waitable = std::make_shared<TestWaitable>(); auto waitable = std::make_shared<TestWaitable>();
// Adding a subscription with rmw_connext_cpp adds another waitable, so we need to get the
// current number of waitables just before adding the new waitable.
expected_number_of_entities->waitables = get_number_of_default_entities(node)->waitables;
node->get_node_waitables_interface()->add_waitable(waitable, nullptr); node->get_node_waitables_interface()->add_waitable(waitable, nullptr);
entities_collector_->add_node(node->get_node_base_interface()); entities_collector_->add_node(node->get_node_base_interface());