From dc3c36c7f05c06f504041a2ab2c8df1160438607 Mon Sep 17 00:00:00 2001 From: Karsten Knese Date: Mon, 5 Aug 2019 22:43:30 -0700 Subject: [PATCH] remove mock msgs from rclcpp (#800) Signed-off-by: Karsten Knese --- rclcpp/CMakeLists.txt | 36 +++++-------------- rclcpp/test/mock_msgs/srv/Mock.srv | 3 -- .../test/test_externally_defined_services.cpp | 28 +++++++-------- 3 files changed, 21 insertions(+), 46 deletions(-) delete mode 100644 rclcpp/test/mock_msgs/srv/Mock.srv diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt index 32b7664..81fbdc5 100644 --- a/rclcpp/CMakeLists.txt +++ b/rclcpp/CMakeLists.txt @@ -143,6 +143,8 @@ if(BUILD_TESTING) find_package(rmw_implementation_cmake REQUIRED) + find_package(test_msgs REQUIRED) + include(cmake/rclcpp_add_build_failure_test.cmake) ament_add_gtest(test_client test/test_client.cpp) @@ -356,7 +358,6 @@ if(BUILD_TESTING) ) target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME}) endif() - find_package(test_msgs REQUIRED) ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp) if(TARGET test_subscription_traits) ament_target_dependencies(test_subscription_traits @@ -372,38 +373,17 @@ if(BUILD_TESTING) target_link_libraries(test_find_weak_nodes ${PROJECT_NAME}) endif() - get_default_rmw_implementation(default_rmw) - find_package(${default_rmw} REQUIRED) - get_rmw_typesupport(typesupport_impls_cpp "${default_rmw}" LANGUAGE "cpp") - get_rmw_typesupport(typesupport_impls_c "${default_rmw}" LANGUAGE "c") - set(mock_msg_files - "test/mock_msgs/srv/Mock.srv") - rosidl_generate_interfaces(mock_msgs - ${mock_msg_files} - LIBRARY_NAME "rclcpp" - SKIP_INSTALL) - set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}") if(WIN32) set(append_library_dirs "${append_library_dirs}/$") endif() - ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp - APPEND_LIBRARY_DIRS "${append_library_dirs}") - if(TARGET test_externally_defined_services) - ament_target_dependencies(test_externally_defined_services - "rcl" - ) - target_link_libraries(test_externally_defined_services ${PROJECT_NAME}) - foreach(typesupport_impl_cpp ${typesupport_impls_cpp}) - rosidl_target_interfaces(test_externally_defined_services - mock_msgs ${typesupport_impl_cpp}) - endforeach() - foreach(typesupport_impl_c ${typesupport_impls_c}) - rosidl_target_interfaces(test_externally_defined_services - mock_msgs ${typesupport_impl_c}) - endforeach() - endif() + ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp) + ament_target_dependencies(test_externally_defined_services + "rcl" + "test_msgs" + ) + target_link_libraries(test_externally_defined_services ${PROJECT_NAME}) ament_add_gtest(test_duration test/test_duration.cpp APPEND_LIBRARY_DIRS "${append_library_dirs}") diff --git a/rclcpp/test/mock_msgs/srv/Mock.srv b/rclcpp/test/mock_msgs/srv/Mock.srv deleted file mode 100644 index 06a8369..0000000 --- a/rclcpp/test/mock_msgs/srv/Mock.srv +++ /dev/null @@ -1,3 +0,0 @@ -bool request ---- -bool response diff --git a/rclcpp/test/test_externally_defined_services.cpp b/rclcpp/test/test_externally_defined_services.cpp index 4337119..563f7f6 100644 --- a/rclcpp/test/test_externally_defined_services.cpp +++ b/rclcpp/test/test_externally_defined_services.cpp @@ -24,8 +24,8 @@ #include "rcl/service.h" -#include "rclcpp/srv/mock.hpp" -#include "rclcpp/srv/mock.h" +#include "test_msgs/srv/empty.hpp" +#include "test_msgs/srv/empty.h" class TestExternallyDefinedServices : public ::testing::Test { @@ -38,16 +38,15 @@ protected: void callback( - const std::shared_ptr/*req*/, - std::shared_ptr/*resp*/) + const std::shared_ptr/*req*/, + std::shared_ptr/*resp*/) {} TEST_F(TestExternallyDefinedServices, default_behavior) { auto node_handle = rclcpp::Node::make_shared("base_node"); try { - auto srv = node_handle->create_service("test", - callback); + auto srv = node_handle->create_service("test", callback); } catch (const std::exception &) { FAIL(); return; @@ -55,19 +54,18 @@ TEST_F(TestExternallyDefinedServices, default_behavior) { SUCCEED(); } - TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) { auto node_handle = rclcpp::Node::make_shared("base_node"); // mock for externally defined service rcl_service_t service_handle = rcl_get_zero_initialized_service(); - rclcpp::AnyServiceCallback cb; + rclcpp::AnyServiceCallback cb; // don't initialize the service // expect fail try { - rclcpp::Service( + rclcpp::Service( node_handle->get_node_base_interface()->get_shared_rcl_node_handle(), &service_handle, cb); } catch (const std::runtime_error &) { @@ -85,7 +83,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) { rcl_service_t service_handle = rcl_get_zero_initialized_service(); rcl_service_options_t service_options = rcl_service_get_default_options(); const rosidl_service_type_support_t * ts = - rosidl_typesupport_cpp::get_service_type_support_handle(); + rosidl_typesupport_cpp::get_service_type_support_handle(); rcl_ret_t ret = rcl_service_init( &service_handle, node_handle->get_node_base_interface()->get_rcl_node_handle(), @@ -95,10 +93,10 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) { return; } - rclcpp::AnyServiceCallback cb; + rclcpp::AnyServiceCallback cb; try { - rclcpp::Service( + rclcpp::Service( node_handle->get_node_base_interface()->get_shared_rcl_node_handle(), &service_handle, cb); } catch (const std::runtime_error &) { @@ -125,7 +123,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) { rcl_service_t service_handle = rcl_get_zero_initialized_service(); rcl_service_options_t service_options = rcl_service_get_default_options(); const rosidl_service_type_support_t * ts = - rosidl_typesupport_cpp::get_service_type_support_handle(); + rosidl_typesupport_cpp::get_service_type_support_handle(); rcl_ret_t ret = rcl_service_init( &service_handle, node_handle->get_node_base_interface()->get_rcl_node_handle(), @@ -134,11 +132,11 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) { FAIL(); return; } - rclcpp::AnyServiceCallback cb; + rclcpp::AnyServiceCallback cb; { // Call constructor - rclcpp::Service srv_cpp( + rclcpp::Service srv_cpp( node_handle->get_node_base_interface()->get_shared_rcl_node_handle(), &service_handle, cb); // Call destructor