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Enable callback group tests for connextdds #2182

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merged 4 commits into from
Jun 14, 2023
Merged

Enable callback group tests for connextdds #2182

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37643ea
Enable callback group tests for connextdds
cwecht May 2, 2023
f87dc7b
Enable executors and event executor tests for connextdds
cwecht May 3, 2023
14f6e7f
Enable qos events tests for connextdds
cwecht May 3, 2023
4baae58
Less flaky qos_event tests
cwecht May 16, 2023
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55 changes: 0 additions & 55 deletions rclcpp/test/rclcpp/executors/test_events_executor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,6 @@ class TestEventsExecutor : public ::testing::Test

TEST_F(TestEventsExecutor, run_pub_sub)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

bool msg_received = false;
Expand Down Expand Up @@ -95,11 +90,6 @@ TEST_F(TestEventsExecutor, run_pub_sub)

TEST_F(TestEventsExecutor, run_clients_servers)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

bool request_received = false;
Expand Down Expand Up @@ -153,11 +143,6 @@ TEST_F(TestEventsExecutor, run_clients_servers)

TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

EventsExecutor executor;
Expand Down Expand Up @@ -190,11 +175,6 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)

TEST_F(TestEventsExecutor, spin_once_max_duration_timer)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

EventsExecutor executor;
Expand Down Expand Up @@ -226,11 +206,6 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timer)

TEST_F(TestEventsExecutor, spin_some_max_duration)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

{
auto node = std::make_shared<rclcpp::Node>("node");

Expand Down Expand Up @@ -277,11 +252,6 @@ TEST_F(TestEventsExecutor, spin_some_max_duration)

TEST_F(TestEventsExecutor, spin_some_zero_duration)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

size_t t_runs = 0;
Expand All @@ -303,11 +273,6 @@ TEST_F(TestEventsExecutor, spin_some_zero_duration)

TEST_F(TestEventsExecutor, spin_all_max_duration)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

{
auto node = std::make_shared<rclcpp::Node>("node");

Expand Down Expand Up @@ -358,11 +323,6 @@ TEST_F(TestEventsExecutor, spin_all_max_duration)

TEST_F(TestEventsExecutor, cancel_while_timers_running)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

EventsExecutor executor;
Expand Down Expand Up @@ -402,11 +362,6 @@ TEST_F(TestEventsExecutor, cancel_while_timers_running)

TEST_F(TestEventsExecutor, cancel_while_timers_waiting)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

size_t t1_runs = 0;
Expand Down Expand Up @@ -435,11 +390,6 @@ TEST_F(TestEventsExecutor, destroy_entities)
// This test fails on Windows! We skip it for now
GTEST_SKIP();

// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

// Create a publisher node and start publishing messages
auto node_pub = std::make_shared<rclcpp::Node>("node_pub");
auto publisher = node_pub->create_publisher<test_msgs::msg::Empty>("topic", rclcpp::QoS(10));
Expand Down Expand Up @@ -485,11 +435,6 @@ std::string * g_sub_log_msg;
std::promise<void> * g_log_msgs_promise;
TEST_F(TestEventsExecutor, test_default_incompatible_qos_callbacks)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");
rcutils_logging_output_handler_t original_output_handler = rcutils_logging_get_output_handler();

Expand Down
120 changes: 0 additions & 120 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -135,14 +135,6 @@ TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
TYPED_TEST(TestExecutors, detachOnDestruction)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

{
ExecutorType executor;
executor.add_node(this->node);
Expand All @@ -159,14 +151,6 @@ TYPED_TEST(TestExecutors, detachOnDestruction)
TYPED_TEST(TestExecutorsStable, addTemporaryNode)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

{
Expand All @@ -187,14 +171,6 @@ TYPED_TEST(TestExecutorsStable, addTemporaryNode)
TYPED_TEST(TestExecutors, emptyExecutor)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
std::thread spinner([&]() {EXPECT_NO_THROW(executor.spin());});
std::this_thread::sleep_for(50ms);
Expand All @@ -206,14 +182,6 @@ TYPED_TEST(TestExecutors, emptyExecutor)
TYPED_TEST(TestExecutors, addNodeTwoExecutors)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor1;
ExecutorType executor2;
EXPECT_NO_THROW(executor1.add_node(this->node));
Expand All @@ -225,14 +193,6 @@ TYPED_TEST(TestExecutors, addNodeTwoExecutors)
TYPED_TEST(TestExecutors, spinWithTimer)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

bool timer_completed = false;
Expand All @@ -256,14 +216,6 @@ TYPED_TEST(TestExecutors, spinWithTimer)
TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down Expand Up @@ -291,14 +243,6 @@ TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand All @@ -322,14 +266,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand All @@ -354,14 +290,6 @@ TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down Expand Up @@ -409,14 +337,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down Expand Up @@ -529,14 +449,6 @@ class TestWaitable : public rclcpp::Waitable
TYPED_TEST(TestExecutors, spinAll)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
auto waitable_interfaces = this->node->get_node_waitables_interface();
auto my_waitable = std::make_shared<TestWaitable>();
Expand Down Expand Up @@ -579,14 +491,6 @@ TYPED_TEST(TestExecutors, spinAll)
TYPED_TEST(TestExecutors, spinSome)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
auto waitable_interfaces = this->node->get_node_waitables_interface();
auto my_waitable = std::make_shared<TestWaitable>();
Expand Down Expand Up @@ -629,14 +533,6 @@ TYPED_TEST(TestExecutors, spinSome)
TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

std::promise<bool> promise;
Expand All @@ -653,14 +549,6 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

std::promise<bool> promise;
Expand All @@ -677,14 +565,6 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down
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