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Fix Typesupport Introspection tests #133

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Merged
clalancette merged 9 commits into from
Feb 17, 2023
+67 −14
Merged

Fix Typesupport Introspection tests #133

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b25848b
Update expected typesupport identifier
Crola1702 Feb 14, 2023
36556ce
Updated all introspection identifiers
Crola1702 Feb 14, 2023
7f3732a
Fix linters
Crola1702 Feb 14, 2023
50869c3
Add conditional for cyclonedds
Crola1702 Feb 15, 2023
6300d57
Use rmw.h instead of env variables
Crola1702 Feb 16, 2023
8d045b3
Add rmw_implementation dependency
Crola1702 Feb 16, 2023
b71f4d0
Added rmw_implementation as test dependency
Crola1702 Feb 17, 2023
0995998
Fix str.find method usage
Crola1702 Feb 17, 2023
8db84b7
Small cleanups.
clalancette Feb 17, 2023
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15 changes: 11 additions & 4 deletions rosidl_typesupport_tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,16 @@ endif()
find_package(ament_cmake REQUIRED)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(rosidl_cmake REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
find_package(test_interface_files REQUIRED)
find_package(ament_lint_auto REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw REQUIRED)
find_package(rmw_implementation REQUIRED)
find_package(rosidl_cmake REQUIRED)
find_package(rosidl_generator_cpp REQUIRED)
find_package(test_interface_files REQUIRED)

ament_lint_auto_find_test_dependencies()

rosidl_generate_interfaces(${PROJECT_NAME}
${test_interface_files_MSG_FILES}
Expand All @@ -31,13 +34,17 @@ if(BUILD_TESTING)
)
target_link_libraries(test_service_typesupport_cpp
"${cpp_typesupport_target}"
rmw::rmw
rmw_implementation::rmw_implementation
)

ament_add_gtest(test_service_typesupport_c
test/rosidl_typesupport_c/test_service_typesupport.cpp
)
target_link_libraries(test_service_typesupport_c
"${c_typesupport_target}"
rmw::rmw
rmw_implementation::rmw_implementation
)
endif()

Expand Down
6 changes: 4 additions & 2 deletions rosidl_typesupport_tests/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,17 +10,19 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<test_depend>action_msgs</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>rcutils</test_depend>
<test_depend>rmw</test_depend>
<test_depend>rmw_implementation</test_depend>
<test_depend>rosidl_cmake</test_depend>
<test_depend>rosidl_generator_cpp</test_depend>
<test_depend>rosidl_typesupport_c</test_depend>
<test_depend>rosidl_typesupport_cpp</test_depend>
<test_depend>test_interface_files</test_depend>
<test_depend>service_msgs</test_depend>
<test_depend>action_msgs</test_depend>
<test_depend>test_interface_files</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
31 changes: 27 additions & 4 deletions rosidl_typesupport_tests/test/rosidl_typesupport_c/test_service_typesupport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,16 +14,20 @@

#include <algorithm>
#include <array>
#include <string>

#include "gtest/gtest.h"

#include "rcutils/allocator.h"
#include "rcutils/env.h"

#include "rosidl_runtime_c/string_functions.h"

#include "rosidl_typesupport_tests/action/fibonacci.h"
#include "rosidl_typesupport_tests/srv/basic_types.h"

#include "rmw/rmw.h"

TEST(test_service_typesupport, event_message_create_and_destroy_invalid_arguments)
{
rcutils_allocator_t allocator = rcutils_get_default_allocator();
Expand Down Expand Up @@ -51,8 +55,17 @@ TEST(test_service_typesupport, basic_types_event_message_create)
const rosidl_message_type_support_t * msg_ts =
rosidl_typesupport_c__get_message_type_support_handle__rosidl_typesupport_tests__srv__BasicTypes_Event(); // NOLINT

EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_c");
EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_c");
if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
EXPECT_STREQ(
srv_ts->typesupport_identifier,
"rosidl_typesupport_introspection_c");
EXPECT_STREQ(
msg_ts->typesupport_identifier,
"rosidl_typesupport_introspection_c");
} else {
EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_c");
EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_c");
}

EXPECT_EQ(srv_ts->event_typesupport, msg_ts);

Expand Down Expand Up @@ -177,6 +190,16 @@ TEST(test_service_typesupport, fibonacci_action_services_event)
rosidl_typesupport_c__get_message_type_support_handle__rosidl_typesupport_tests__action__Fibonacci_GetResult_Event(); // NOLINT
ASSERT_NE(nullptr, send_goal_event_msg_ts);
ASSERT_NE(nullptr, get_result_event_msg_ts);
EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");

if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
EXPECT_STREQ(
send_goal_event_msg_ts->typesupport_identifier,
"rosidl_typesupport_introspection_c");
EXPECT_STREQ(
get_result_event_msg_ts->typesupport_identifier,
"rosidl_typesupport_introspection_c");
} else {
EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
}
}
29 changes: 25 additions & 4 deletions rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <algorithm>
#include <array>
#include <stdexcept>
#include <string>

#include "gtest/gtest.h"

Expand All @@ -26,6 +27,8 @@
#include "rosidl_typesupport_tests/action/fibonacci.hpp"
#include "rosidl_typesupport_tests/srv/basic_types.hpp"

#include "rmw/rmw.h"

TEST(test_service_typesupport, event_message_create_and_destroy_invalid_arguments)
{
rcutils_allocator_t allocator = rcutils_get_default_allocator();
Expand Down Expand Up @@ -57,8 +60,17 @@ TEST(test_service_typesupport, basic_types_event_message_create)
const rosidl_message_type_support_t * msg_ts =
rosidl_typesupport_cpp::get_message_type_support_handle<rosidl_typesupport_tests::srv::BasicTypes_Event>(); // NOLINT

EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_cpp");
EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
EXPECT_STREQ(
srv_ts->typesupport_identifier,
"rosidl_typesupport_introspection_cpp");
EXPECT_STREQ(
msg_ts->typesupport_identifier,
"rosidl_typesupport_introspection_cpp");
} else {
EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_cpp");
EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
}

// typesupports are static so this comparison *should* be valid?
EXPECT_EQ(srv_ts->event_typesupport, msg_ts);
Expand Down Expand Up @@ -181,6 +193,15 @@ TEST(test_service_typesupport, fibonacci_action_services_event)
rosidl_typesupport_tests::action::Fibonacci_GetResult::Event>();
ASSERT_NE(nullptr, send_goal_event_msg_ts);
ASSERT_NE(nullptr, get_result_event_msg_ts);
EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
EXPECT_STREQ(
send_goal_event_msg_ts->typesupport_identifier,
"rosidl_typesupport_introspection_cpp");
EXPECT_STREQ(
get_result_event_msg_ts->typesupport_identifier,
"rosidl_typesupport_introspection_cpp");
} else {
EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
}
}