Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Use new test interface definitions #427

Merged
merged 1 commit into from
May 1, 2019
Merged

Use new test interface definitions #427

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 11 additions & 11 deletions rcl/test/rcl/client_fixture.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
#include "rcl/client.h"
#include "rcl/rcl.h"

#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"

#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
Expand Down Expand Up @@ -153,8 +153,8 @@ int main(int argc, char ** argv)
});

const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
const char * service_name = "primitives";
test_msgs, srv, BasicTypes);
const char * service_name = "basic_types";

rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
Expand All @@ -180,11 +180,11 @@ int main(int argc, char ** argv)
}

// Initialize a request.
test_msgs__srv__Primitives_Request client_request;
test_msgs__srv__BasicTypes_Request client_request;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&client_request, 0, sizeof(test_msgs__srv__Primitives_Request));
test_msgs__srv__Primitives_Request__init(&client_request);
memset(&client_request, 0, sizeof(test_msgs__srv__BasicTypes_Request));
test_msgs__srv__BasicTypes_Request__init(&client_request);
client_request.uint8_value = 1;
client_request.uint32_value = 2;
int64_t sequence_number;
Expand All @@ -200,14 +200,14 @@ int main(int argc, char ** argv)
return -1;
}

test_msgs__srv__Primitives_Request__fini(&client_request);
test_msgs__srv__BasicTypes_Request__fini(&client_request);

// Initialize the response owned by the client and take the response.
test_msgs__srv__Primitives_Response client_response;
test_msgs__srv__BasicTypes_Response client_response;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&client_response, 0, sizeof(test_msgs__srv__Primitives_Response));
test_msgs__srv__Primitives_Response__init(&client_response);
memset(&client_response, 0, sizeof(test_msgs__srv__BasicTypes_Response));
test_msgs__srv__BasicTypes_Response__init(&client_response);

if (!wait_for_client_to_be_ready(&client, &context, 1000, 100)) {
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready");
Expand All @@ -220,7 +220,7 @@ int main(int argc, char ** argv)
return -1;
}

test_msgs__srv__Primitives_Response__fini(&client_response);
test_msgs__srv__BasicTypes_Response__fini(&client_response);
}

return main_ret;
Expand Down
22 changes: 11 additions & 11 deletions rcl/test/rcl/service_fixture.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@

#include "rcl/rcl.h"

#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"

#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
Expand Down Expand Up @@ -126,8 +126,8 @@ int main(int argc, char ** argv)
});

const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
const char * service_name = "primitives";
test_msgs, srv, BasicTypes);
const char * service_name = "basic_types";

rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
Expand All @@ -147,13 +147,13 @@ int main(int argc, char ** argv)
});

// Initialize a response.
test_msgs__srv__Primitives_Response service_response;
test_msgs__srv__BasicTypes_Response service_response;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&service_response, 0, sizeof(test_msgs__srv__Primitives_Response));
test_msgs__srv__Primitives_Response__init(&service_response);
memset(&service_response, 0, sizeof(test_msgs__srv__BasicTypes_Response));
test_msgs__srv__BasicTypes_Response__init(&service_response);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
test_msgs__srv__Primitives_Response__fini(&service_response);
test_msgs__srv__BasicTypes_Response__fini(&service_response);
});

// Block until a client request comes in.
Expand All @@ -164,13 +164,13 @@ int main(int argc, char ** argv)
}

// Take the pending request.
test_msgs__srv__Primitives_Request service_request;
test_msgs__srv__BasicTypes_Request service_request;
// TODO(dirk-thomas) zero initialization necessary until
// https://github.com/ros2/ros2/issues/397 is implemented
memset(&service_request, 0, sizeof(test_msgs__srv__Primitives_Request));
test_msgs__srv__Primitives_Request__init(&service_request);
memset(&service_request, 0, sizeof(test_msgs__srv__BasicTypes_Request));
test_msgs__srv__BasicTypes_Request__init(&service_request);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
test_msgs__srv__Primitives_Request__fini(&service_request);
test_msgs__srv__BasicTypes_Request__fini(&service_request);
});
rmw_request_id_t header;
// TODO(jacquelinekay) May have to check for timeout error codes
Expand Down
11 changes: 5 additions & 6 deletions rcl/test/rcl/test_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,7 @@

#include "rcl/rcl.h"

#include "rosidl_generator_c/string_functions.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/srv/basic_types.h"

#include "./failing_allocator_functions.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
Expand Down Expand Up @@ -76,7 +75,7 @@ TEST_F(TestClientFixture, test_client_nominal) {
rcl_client_options_t client_options = rcl_client_get_default_options();

const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);

// Check the return code of initialization and that the service name matches what's expected
Expand All @@ -89,8 +88,8 @@ TEST_F(TestClientFixture, test_client_nominal) {
});

// Initialize the client request.
test_msgs__srv__Primitives_Request req;
test_msgs__srv__Primitives_Request__init(&req);
test_msgs__srv__BasicTypes_Request req;
test_msgs__srv__BasicTypes_Request__init(&req);
req.uint8_value = 1;
req.uint32_value = 2;

Expand All @@ -110,7 +109,7 @@ TEST_F(TestClientFixture, test_client_init_fini) {
rcl_client_t client;

const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, Primitives);
test_msgs, srv, BasicTypes);
const char * topic_name = "chatter";
rcl_client_options_t default_client_options = rcl_client_get_default_options();

Expand Down
8 changes: 4 additions & 4 deletions rcl/test/rcl/test_count_matched.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,8 @@

#include "rcutils/logging_macros.h"

#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/srv/basic_types.h"

#include "rcl/error_handling.h"

Expand Down Expand Up @@ -152,7 +152,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_funct

rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
Expand Down Expand Up @@ -202,7 +202,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
pub_ops.qos.avoid_ros_namespace_conventions = false;
pub_ops.allocator = rcl_get_default_allocator();

auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
Expand Down
6 changes: 3 additions & 3 deletions rcl/test/rcl/test_get_actual_qos.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,8 @@
#include "rcutils/logging_macros.h"
#include "rcutils/macros.h"

#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/srv/basic_types.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
Expand Down Expand Up @@ -116,7 +116,7 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
pub_ops.qos = parameters.qos_to_set;
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
Expand Down
18 changes: 9 additions & 9 deletions rcl/test/rcl/test_graph.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,8 @@
#include "rcutils/logging_macros.h"
#include "rcutils/logging.h"

#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/srv/basic_types.h"

#include "osrf_testing_tools_cpp/scope_exit.hpp"

Expand Down Expand Up @@ -899,7 +899,7 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
TEST_F(NodeGraphMultiNodeFixture, test_node_info_subscriptions)
{
rcl_ret_t ret;
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
// Create two subscribers.
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
Expand Down Expand Up @@ -935,7 +935,7 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_publishers)
// Now create a publisher on "topic_name" and check that it is seen.
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, this->topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
Expand All @@ -955,7 +955,7 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_services)
const char * service_name = "test_service";
rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
auto ts1 = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, Primitives);
auto ts1 = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
ret = rcl_service_init(&service, this->node_ptr, ts1, service_name, &service_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
VerifySubsystemCount(expected_node_state{1, 0, 1}, expected_node_state{1, 0, 0});
Expand Down Expand Up @@ -991,7 +991,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
// Now create a publisher on "topic_name" and check that it is seen.
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
Expand Down Expand Up @@ -1068,7 +1068,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
Expand All @@ -1077,7 +1077,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
ret = rcl_subscription_init(
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// sleep
Expand Down Expand Up @@ -1127,7 +1127,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
rcl_ret_t ret;
// First create a client which will be used to call the function.
rcl_client_t client = rcl_get_zero_initialized_client();
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, Primitives);
auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
const char * service_name = "/service_test_rcl_service_server_is_available";
rcl_client_options_t client_options = rcl_client_get_default_options();
ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
Expand Down
35 changes: 18 additions & 17 deletions rcl/test/rcl/test_publisher.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,8 @@
#include "rcl/publisher.h"

#include "rcl/rcl.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/msg/basic_types.h"
#include "test_msgs/msg/strings.h"
#include "rosidl_generator_c/string_functions.h"

#include "./failing_allocator_functions.hpp"
Expand Down Expand Up @@ -78,7 +79,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic_name = "chatter";
const char * expected_topic_name = "/chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
Expand All @@ -89,11 +90,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__BasicTypes msg;
test_msgs__msg__BasicTypes__init(&msg);
msg.int64_value = 42;
ret = rcl_publish(&publisher, &msg);
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__BasicTypes__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

Expand All @@ -103,7 +104,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
const char * topic_name = "chatter";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
Expand All @@ -112,11 +113,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
ret = rcl_publish(&publisher, &msg);
test_msgs__msg__Primitives__fini(&msg);
test_msgs__msg__Strings__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

Expand All @@ -130,7 +131,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_int =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic_name = "basename";
const char * expected_topic_name = "/basename";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
Expand All @@ -144,7 +145,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff

rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT(
test_msgs, msg, Primitives);
test_msgs, msg, Strings);
topic_name = "namespace/basename";
expected_topic_name = "/namespace/basename";
ret = rcl_publisher_init(
Expand All @@ -156,15 +157,15 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);

test_msgs__msg__Primitives msg_int;
test_msgs__msg__Primitives__init(&msg_int);
test_msgs__msg__BasicTypes msg_int;
test_msgs__msg__BasicTypes__init(&msg_int);
msg_int.int64_value = 42;
ret = rcl_publish(&publisher, &msg_int);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_msgs__msg__Primitives__fini(&msg_int);
test_msgs__msg__BasicTypes__fini(&msg_int);

test_msgs__msg__Primitives msg_string;
test_msgs__msg__Primitives__init(&msg_string);
test_msgs__msg__Strings msg_string;
test_msgs__msg__Strings__init(&msg_string);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.string_value, "testing"));
ret = rcl_publish(&publisher_in_namespace, &msg_string);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
Expand All @@ -177,7 +178,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
// Setup valid inputs.
rcl_publisher_t publisher;
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
const char * topic_name = "chatter";
rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();

Expand Down
Loading