Add support for rmw_connextdds (#895)

* Re-enable some tests that were previously disabled for Connext * Restore exceptions for ros2/rmw_connext to ease transition to rticommunity/rmw_connextdds Signed-off-by: Andrea Sorbini <asorbini@rti.com>
ros2 · Mar 11, 2021 · ce2a436 · ce2a436
1 parent 2be1219
commit ce2a436
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Showing 5 changed files with 21 additions and 15 deletions.
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
@@ -73,10 +73,9 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  # TODO(hidmic): re-enable timer tests against RTI Connext once
-  #               https://github.com/ros2/rcl/issues/687 is resolved
+  # TODO(asorbini): Remove these exceptions once ros2/rmw_connext is deprecated.
   set(AMENT_GTEST_ARGS "")
-  if(rmw_implementation STREQUAL "rmw_connext_cpp")
+  if(rmw_implementation MATCHES "rmw_connext(.*)_cpp")
     message(STATUS "Skipping test_timer${target_suffix} test.")
     set(AMENT_GTEST_ARGS "SKIP_TEST")
   endif()
@@ -122,16 +121,16 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
+  # TODO(asorbini): Remove these exceptions once ros2/rmw_connext is deprecated.
   set(AMENT_GTEST_ARGS "")
-  # TODO(wjwwood): remove this when the graph API works properly for connext dynamic
   if(rmw_implementation STREQUAL "rmw_connext_dynamic_cpp")
     message(STATUS "Skipping test_graph${target_suffix} test.")
     set(AMENT_GTEST_ARGS "SKIP_TEST")
-  # TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
   elseif(rmw_implementation STREQUAL "rmw_connext_cpp")
     message(STATUS "Increasing test_graph${target_suffix} test timeout.")
     set(AMENT_GTEST_ARGS TIMEOUT 180)
   endif()
+
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
     ENV ${rmw_implementation_env_var}
@@ -142,19 +141,19 @@ function(test_target_function)
     ${AMENT_GTEST_ARGS}
   )
 
+  # TODO(asorbini): Remove these exceptions once ros2/rmw_connext is deprecated.
   set(AMENT_GTEST_ARGS "")
-  # TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
-  if(rmw_implementation STREQUAL "rmw_connext_cpp")
+  if(rmw_implementation MATCHES "rmw_connext(.*)_cpp")
     message(STATUS "Increasing test_info_by_topic${target_suffix} test timeout.")
     set(AMENT_GTEST_ARGS TIMEOUT 120)
   endif()
+
   rcl_add_custom_gtest(test_info_by_topic${target_suffix}
     SRCS rcl/test_info_by_topic.cpp rcl/wait_for_entity_helpers.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
-    ${AMENT_GTEST_ARGS}
   )
 
   rcl_add_custom_gtest(test_count_matched${target_suffix}
@@ -254,8 +253,11 @@ function(test_target_function)
     LIBRARIES ${PROJECT_NAME} mimick
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
+  # TODO(asorbini) Enable message timestamp tests for rmw_connextdds on Windows
+  # once clock incompatibilities are resolved.
   if(rmw_implementation STREQUAL "rmw_fastrtps_cpp" OR
-    rmw_implementation STREQUAL "rmw_fastrtps_dynamic_cpp")
+    rmw_implementation STREQUAL "rmw_fastrtps_dynamic_cpp" OR
+    (rmw_implementation STREQUAL "rmw_connextdds" AND NOT WIN32))
     message(STATUS "Enabling message timestamp test for ${rmw_implementation}")
     target_compile_definitions(test_subscription${target_suffix}
       PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1" "RMW_RECEIVED_TIMESTAMP_SUPPORTED=1")

diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
@@ -606,7 +606,6 @@ TEST_F(TestEventFixture, test_pubsub_liveliness_kill_pub)
 
 /*
  * Basic test of publisher and subscriber incompatible qos callback events.
- * Only implemented in opensplice at the moment.
  */
 TEST_P(TestEventFixture, test_pubsub_incompatible_qos)
 {

diff --git a/rcl/test/rcl/test_get_actual_qos.cpp b/rcl/test/rcl/test_get_actual_qos.cpp
@@ -430,9 +430,9 @@ get_parameters(bool for_publisher)
       });
     }
   } else {
+    // TODO(asorbini): Remove this block once ros2/rmw_connext is deprecated.
     if (rmw_implementation_str == "rmw_connext_cpp" ||
-      rmw_implementation_str == "rmw_connext_dynamic_cpp" ||
-      rmw_implementation_str == "rmw_opensplice_cpp")
+      rmw_implementation_str == "rmw_connext_dynamic_cpp")
     {
       /*
        * Test with non-default settings.

diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
@@ -51,9 +51,6 @@
 bool is_connext =
   std::string(rmw_get_implementation_identifier()).find("rmw_connext") == 0;
 
-bool is_opensplice =
-  std::string(rmw_get_implementation_identifier()).find("rmw_opensplice") == 0;
-
 class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 {
 public:

diff --git a/rcl_action/test/rcl_action/test_graph.cpp b/rcl_action/test/rcl_action/test_graph.cpp
@@ -358,6 +358,14 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,
       ret = rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces);
       ++attempts;
       ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
+      if (node_names.size < 3u) {
+        ret = rcutils_string_array_fini(&node_names);
+        ASSERT_EQ(RCUTILS_RET_OK, ret);
+        ret = rcutils_string_array_fini(&node_namespaces);
+        ASSERT_EQ(RCUTILS_RET_OK, ret);
+        node_names = rcutils_get_zero_initialized_string_array();
+        node_namespaces = rcutils_get_zero_initialized_string_array();
+      }
     }
   }