From b843c75ef8d841626215cd0c8ebf27436cff74df Mon Sep 17 00:00:00 2001 From: brawner Date: Mon, 5 Oct 2020 13:38:17 -0700 Subject: [PATCH] Remove rmw-dependent unit-test checks (#1293) (#1377) * Remove rmw-dependent unit-test checks Signed-off-by: Stephen Brawner * Address feedback Signed-off-by: Stephen Brawner * PR Fixup Signed-off-by: Stephen Brawner --- rclcpp_lifecycle/test/test_lifecycle_node.cpp | 30 +++++++++++++++---- 1 file changed, 25 insertions(+), 5 deletions(-) diff --git a/rclcpp_lifecycle/test/test_lifecycle_node.cpp b/rclcpp_lifecycle/test/test_lifecycle_node.cpp index dca1f50..93e4249 100644 --- a/rclcpp_lifecycle/test/test_lifecycle_node.cpp +++ b/rclcpp_lifecycle/test/test_lifecycle_node.cpp @@ -492,31 +492,51 @@ TEST_F(TestDefaultStateMachine, test_getters) { TEST_F(TestDefaultStateMachine, test_graph) { auto test_node = std::make_shared("testnode"); auto names = test_node->get_node_names(); - EXPECT_EQ(names.size(), 1u); - EXPECT_STREQ(names[0].c_str(), "/testnode"); - // parameter_events, rosout, /testnode/transition_event + ASSERT_NE(names.end(), std::find(names.begin(), names.end(), std::string("/testnode"))); + + // Other topics may exist for an rclcpp::Node, but just checking the lifecycle one exists auto topic_names_and_types = test_node->get_topic_names_and_types(); - EXPECT_EQ(topic_names_and_types.size(), 3u); + ASSERT_NE( + topic_names_and_types.end(), + topic_names_and_types.find(std::string("/testnode/transition_event"))); EXPECT_STREQ( topic_names_and_types["/testnode/transition_event"][0].c_str(), "lifecycle_msgs/msg/TransitionEvent"); auto service_names_and_types = test_node->get_service_names_and_types(); - EXPECT_EQ(service_names_and_types.size(), 11u); // These are specific to lifecycle nodes, other services are provided by rclcpp::Node + ASSERT_NE( + service_names_and_types.end(), + service_names_and_types.find(std::string("/testnode/change_state"))); EXPECT_STREQ( service_names_and_types["/testnode/change_state"][0].c_str(), "lifecycle_msgs/srv/ChangeState"); + + ASSERT_NE( + service_names_and_types.end(), + service_names_and_types.find(std::string("/testnode/get_available_states"))); EXPECT_STREQ( service_names_and_types["/testnode/get_available_states"][0].c_str(), "lifecycle_msgs/srv/GetAvailableStates"); + + ASSERT_NE( + service_names_and_types.end(), + service_names_and_types.find(std::string("/testnode/get_available_transitions"))); EXPECT_STREQ( service_names_and_types["/testnode/get_available_transitions"][0].c_str(), "lifecycle_msgs/srv/GetAvailableTransitions"); + + ASSERT_NE( + service_names_and_types.end(), + service_names_and_types.find(std::string("/testnode/get_state"))); EXPECT_STREQ( service_names_and_types["/testnode/get_state"][0].c_str(), "lifecycle_msgs/srv/GetState"); + + ASSERT_NE( + service_names_and_types.end(), + service_names_and_types.find(std::string("/testnode/get_transition_graph"))); EXPECT_STREQ( service_names_and_types["/testnode/get_transition_graph"][0].c_str(), "lifecycle_msgs/srv/GetAvailableTransitions");