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Remove hack from unit test #368

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Jan 29, 2019
Merged

Remove hack from unit test #368

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29 changes: 12 additions & 17 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -495,12 +495,8 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
{
std::vector<rcl_node_t *> node_vec;
node_vec.push_back(this->node_ptr);
if (!(is_opensplice || is_connext)) {
// TODO(ross-desmond): opensplice and connext cannot discover data about
// the current node due to their implementations of Simple Discovery
// Protocol. Should be fixed later.
node_vec.push_back(this->remote_node_ptr);
}
node_vec.push_back(this->remote_node_ptr);

size_t attempts = 20;
bool is_expect = false;
rcl_ret_t ret;
Expand All @@ -510,17 +506,16 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
bool is_success = true;
// verify each node contains the same node graph.
for (auto node : node_vec) {
if (!(is_opensplice || is_connext)) {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from node");
expect_topics_types(node, sub_func, node_state.subscribers,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node");
expect_topics_types(node, service_func, node_state.services,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node");
expect_topics_types(node, pub_func, node_state.publishers,
test_graph_node_name, is_expect, is_success);
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from node");
expect_topics_types(node, sub_func, node_state.subscribers,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node");
expect_topics_types(node, service_func, node_state.services,
test_graph_node_name, is_expect, is_success);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node");
expect_topics_types(node, pub_func, node_state.publishers,
test_graph_node_name, is_expect, is_success);

RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from remote node");
expect_topics_types(node, sub_func, remote_node_state.subscribers,
this->remote_node_name, is_expect, is_success);
Expand Down