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Change tests to try MANUAL_BY_TOPIC liveliness for FastRTPS #465

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merged 2 commits into from
Jun 28, 2019
Merged

Change tests to try MANUAL_BY_TOPIC liveliness for FastRTPS #465

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1ab6744
Remove tests about FastRTPS not supporting MANUAL_BY_TOPIC liveliness
Jun 26, 2019
88049fb
Remove unused variable
Jun 26, 2019
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35 changes: 4 additions & 31 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
is_opensplice = (std::string(rmw_get_implementation_identifier()).find("rmw_opensplice") == 0);
bool is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
is_liveliness_supported = !is_fastrtps;
is_manual_by_node_liveliness_supported = !is_fastrtps;

rcl_ret_t ret;
{
Expand Down Expand Up @@ -130,13 +130,7 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
rmw_time_t lifespan {0, 0};
rmw_time_t deadline {DEADLINE_PERIOD_IN_S.count(), 0};
rmw_time_t lease_duration {LIVELINESS_LEASE_DURATION_IN_S.count(), 0};
if (!is_liveliness_supported) {
lease_duration = {0, 0};
}
rmw_qos_liveliness_policy_t liveliness_policy =
is_liveliness_supported ?
RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC :
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;

// init publisher
ret = setup_publisher(deadline, lifespan, lease_duration, liveliness_policy);
Expand Down Expand Up @@ -218,7 +212,7 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
rcl_subscription_t subscription;
rcl_event_t subscription_event;
bool is_opensplice;
bool is_liveliness_supported;
bool is_manual_by_node_liveliness_supported;
const char * topic = "rcl_test_publisher_subscription_events";
const rosidl_message_type_support_t * ts;
};
Expand Down Expand Up @@ -350,36 +344,19 @@ conditional_wait_for_msgs_and_events(
}

TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_liveliness) {
if (is_liveliness_supported) {
if (is_manual_by_node_liveliness_supported) {
return;
}
rmw_time_t deadline {0, 0};
rmw_time_t lifespan {0, 0};
rmw_time_t lease_duration {0, 0};
rmw_time_t nonzero_lease_duration {1, 0};
rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
EXPECT_EQ(RCL_RET_ERROR,
setup_subscriber(deadline, lifespan, lease_duration, liveliness_policy)) <<
"Initialized subscription with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE when unsupported";
EXPECT_EQ(RCL_RET_ERROR,
setup_publisher(deadline, lifespan, lease_duration, liveliness_policy)) <<
"Initialized publisher with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE when unsupported";

liveliness_policy = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
EXPECT_EQ(RCL_RET_ERROR,
setup_subscriber(deadline, lifespan, lease_duration, liveliness_policy)) <<
"Initialized subscription with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC when unsupported";
EXPECT_EQ(RCL_RET_ERROR,
setup_publisher(deadline, lifespan, lease_duration, liveliness_policy)) <<
"Initialized publisher with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC when unsupported";

liveliness_policy = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
EXPECT_EQ(RCL_RET_ERROR,
setup_subscriber(deadline, lifespan, nonzero_lease_duration, liveliness_policy)) <<
"Initialized subscription with nonzero Liveliness lease duration when unsupported";
EXPECT_EQ(RCL_RET_ERROR,
setup_publisher(deadline, lifespan, nonzero_lease_duration, liveliness_policy)) <<
"Initialized publisher with nonzero Liveliness lease duration when unsupported";
}

/*
Expand Down Expand Up @@ -522,10 +499,6 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_mis
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_kill_pub)
{
if (!is_liveliness_supported) {
return;
}

setup_publisher_and_subscriber(RCL_PUBLISHER_LIVELINESS_LOST,
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
rcl_ret_t ret;
Expand Down