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use test_msgs instead of std_msgs in tests #270

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Jul 17, 2018
Merged

use test_msgs instead of std_msgs in tests #270

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1 change: 0 additions & 1 deletion rcl/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,6 @@
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>std_msgs</test_depend>
<test_depend>test_msgs</test_depend>

<export>
Expand Down
9 changes: 4 additions & 5 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)

find_package(std_msgs REQUIRED)
find_package(test_msgs REQUIRED)

find_package(rmw_implementation_cmake REQUIRED)
Expand Down Expand Up @@ -99,7 +98,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" "test_msgs"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
${SKIP_TEST}
)

Expand Down Expand Up @@ -142,7 +141,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES "std_msgs" "test_msgs"
AMENT_DEPENDENCIES "test_msgs"
)

rcl_add_custom_gtest(test_guard_condition${target_suffix}
Expand All @@ -160,7 +159,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)

rcl_add_custom_gtest(test_service${target_suffix}
Expand All @@ -178,7 +177,7 @@ function(test_target_function)
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
)

rcl_add_custom_gtest(test_wait${target_suffix}
Expand Down
8 changes: 4 additions & 4 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@

#include "rcutils/logging_macros.h"

#include "std_msgs/msg/string.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"

#include "osrf_testing_tools_cpp/scope_exit.hpp"
Expand Down Expand Up @@ -333,7 +333,7 @@ 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(std_msgs, msg, String);
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
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_safe();
rcl_reset_error();
Expand Down Expand Up @@ -410,7 +410,7 @@ 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(std_msgs, msg, String),
&pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
"/chatter_test_graph_guard_condition_topics", &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
Expand All @@ -419,7 +419,7 @@ 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(std_msgs, msg, String),
&sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
"/chatter_test_graph_guard_condition_topics", &sub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// sleep
Expand Down
61 changes: 27 additions & 34 deletions rcl/test/rcl/test_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,7 @@
#include "rcl/publisher.h"

#include "rcl/rcl.h"
#include "std_msgs/msg/int64.h"
#include "std_msgs/msg/string.h"
#include "test_msgs/msg/primitives.h"
#include "rosidl_generator_c/string_functions.h"

#include "./failing_allocator_functions.hpp"
Expand Down Expand Up @@ -64,19 +63,10 @@ class CLASSNAME (TestPublisherFixture, RMW_IMPLEMENTATION) : public ::testing::T
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal) {
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(std_msgs, msg, Int64);
// TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
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@wjwwood FYI I couldnt reproduce the issue so I restored chatter and removed the TODO

// ========================================================================================
// Report : WARNING
// Date : Wed Feb 10 18:17:03 PST 2016
// Description : Create Topic "chatter" failed: typename <std_msgs::msg::dds_::Int64_>
// differs exiting definition <std_msgs::msg::dds_::String_>.
// Node : farl
// Process : test_subscription__rmw_opensplice_cpp <23524>
// Thread : main thread 7fff7342d000
// Internals : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
const char * topic_name = "chatter_int64";
const char * expected_topic_name = "/chatter_int64";
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "chatter";
const char * expected_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);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
Expand All @@ -85,11 +75,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
std_msgs__msg__Int64 msg;
std_msgs__msg__Int64__init(&msg);
msg.data = 42;
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
msg.int64_value = 42;
ret = rcl_publish(&publisher, &msg);
std_msgs__msg__Int64__fini(&msg);
test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}

Expand All @@ -98,7 +88,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal_string) {
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(std_msgs, msg, String);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
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 @@ -107,11 +98,11 @@ 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_safe();
});
std_msgs__msg__String msg;
std_msgs__msg__String__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, "testing"));
test_msgs__msg__Primitives msg;
test_msgs__msg__Primitives__init(&msg);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
ret = rcl_publish(&publisher, &msg);
std_msgs__msg__String__fini(&msg);
test_msgs__msg__Primitives__fini(&msg);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}

Expand All @@ -124,7 +115,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) {
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(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts_int =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "basename";
const char * expected_topic_name = "/basename";
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
Expand All @@ -138,7 +130,7 @@ 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(
std_msgs, msg, String);
test_msgs, msg, Primitives);
topic_name = "namespace/basename";
expected_topic_name = "/namespace/basename";
ret = rcl_publisher_init(
Expand All @@ -150,16 +142,16 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
});
EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);

std_msgs__msg__Int64 msg_int;
std_msgs__msg__Int64__init(&msg_int);
msg_int.data = 42;
test_msgs__msg__Primitives msg_int;
test_msgs__msg__Primitives__init(&msg_int);
msg_int.int64_value = 42;
ret = rcl_publish(&publisher, &msg_int);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
std_msgs__msg__Int64__fini(&msg_int);
test_msgs__msg__Primitives__fini(&msg_int);

std_msgs__msg__String msg_string;
std_msgs__msg__String__init(&msg_string);
ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.data, "testing"));
test_msgs__msg__Primitives msg_string;
test_msgs__msg__Primitives__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_safe();
}
Expand All @@ -170,7 +162,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
rcl_ret_t ret;
// Setup valid inputs.
rcl_publisher_t publisher;
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
const char * topic_name = "chatter";
rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();

Expand Down
26 changes: 17 additions & 9 deletions rcl/test/rcl/test_remap_integration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
#include "rcl/remap.h"
#include "rcl/error_handling.h"

#include "std_msgs/msg/int64.h"
#include "test_msgs/msg/primitives.h"
#include "test_msgs/srv/primitives.h"

#include "./arg_macros.hpp"
Expand Down Expand Up @@ -62,7 +62,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
EXPECT_STREQ("new_ns.new_name", rcl_node_get_logger_name(&node));
}
{ // Publisher topic gets remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
Expand All @@ -71,7 +72,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
}
{ // Subscription topic gets remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
Expand Down Expand Up @@ -128,7 +130,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
EXPECT_STREQ("original_ns.original_name", rcl_node_get_logger_name(&node));
}
{ // Publisher topic does not get remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
Expand All @@ -137,7 +140,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
}
{ // Subscription topic does not get remapped
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
Expand Down Expand Up @@ -195,7 +199,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
EXPECT_STREQ("local_ns.local_name", rcl_node_get_logger_name(&node));
}
{ // Publisher topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
Expand All @@ -204,7 +209,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
}
{ // Subscription topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
Expand Down Expand Up @@ -247,7 +253,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
ASSERT_EQ(RCL_RET_OK, rcl_node_init(&node, "original_name", "/foo", &default_options));

{ // Publisher topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "bar", &publisher_options);
Expand All @@ -256,7 +263,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
}
{ // Subscription topic
const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
rcl_ret_t ret = rcl_subscription_init(
Expand Down
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