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Avoid multiple type topics in tests. (#1150)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Michel Hidalgo 2020-06-01 20:04:29 -03:00 • committed by GitHub
parent ed68b4bde7
commit 819612aec6
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1 changed files with 10 additions and 6 deletions
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16
rclcpp/test/topic_statistics/test_subscription_topic_statistics.cpp
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@ -46,6 +46,7 @@ namespace
constexpr const char kTestPubNodeName[]{"test_pub_stats_node"}; constexpr const char kTestPubNodeName[]{"test_pub_stats_node"};
constexpr const char kTestSubNodeName[]{"test_sub_stats_node"}; constexpr const char kTestSubNodeName[]{"test_sub_stats_node"};
constexpr const char kTestSubStatsTopic[]{"/test_sub_stats_topic"}; constexpr const char kTestSubStatsTopic[]{"/test_sub_stats_topic"};
constexpr const char kTestSubStatsEmptyTopic[]{"/test_sub_stats_empty_topic"};
constexpr const char kTestTopicStatisticsTopic[]{"/test_topic_statistics_topic"}; constexpr const char kTestTopicStatisticsTopic[]{"/test_topic_statistics_topic"};
constexpr const uint64_t kNoSamples{0}; constexpr const uint64_t kNoSamples{0};
constexpr const std::chrono::seconds kTestDuration{10}; constexpr const std::chrono::seconds kTestDuration{10};
@ -210,21 +211,20 @@ protected:
void SetUp() void SetUp()
{ {
rclcpp::init(0 /* argc */, nullptr /* argv */); rclcpp::init(0 /* argc */, nullptr /* argv */);
empty_subscriber = std::make_shared<EmptySubscriber>(
kTestSubNodeName,
kTestSubStatsTopic);
} }
void TearDown() void TearDown()
{ {
rclcpp::shutdown(); rclcpp::shutdown();
empty_subscriber.reset();
} }
std::shared_ptr<EmptySubscriber> empty_subscriber;
}; };
TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction) TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction)
{ {
auto empty_subscriber = std::make_shared<EmptySubscriber>(
kTestSubNodeName,
kTestSubStatsEmptyTopic);
// Manually create publisher tied to the node // Manually create publisher tied to the node
auto topic_stats_publisher = auto topic_stats_publisher =
empty_subscriber->create_publisher<MetricsMessage>( empty_subscriber->create_publisher<MetricsMessage>(
@ -251,7 +251,7 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
// Create an empty publisher // Create an empty publisher
auto empty_publisher = std::make_shared<EmptyPublisher>( auto empty_publisher = std::make_shared<EmptyPublisher>(
kTestPubNodeName, kTestPubNodeName,
kTestSubStatsTopic); kTestSubStatsEmptyTopic);
// empty_subscriber has a topic statistics instance as part of its subscription // empty_subscriber has a topic statistics instance as part of its subscription
// this will listen to and generate statistics for the empty message // this will listen to and generate statistics for the empty message
@ -261,6 +261,10 @@ TEST_F(TestSubscriptionTopicStatisticsFixture, test_receive_stats_for_message_no
"/statistics", "/statistics",
2); 2);
auto empty_subscriber = std::make_shared<EmptySubscriber>(
kTestSubNodeName,
kTestSubStatsEmptyTopic);
rclcpp::executors::SingleThreadedExecutor ex; rclcpp::executors::SingleThreadedExecutor ex;
ex.add_node(empty_publisher); ex.add_node(empty_publisher);
ex.add_node(statistics_listener); ex.add_node(statistics_listener);