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Allow get_node_names to return result in any order #488

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merged 2 commits into from
Aug 23, 2019
Merged

Allow get_node_names to return result in any order #488

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6eb9b4a
Allow get_node_names to return result in any order
eboasson Aug 19, 2019
2a0d5e1
Use std::set for checking discovered nodes
eboasson Aug 20, 2019
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27 changes: 16 additions & 11 deletions rcl/test/rcl/test_get_node_names.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,9 @@
#include <iostream>
#include <sstream>
#include <thread>
#include <string>
#include <set>
#include <utility>

#include "rcutils/types.h"

Expand Down Expand Up @@ -62,13 +65,16 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
});
std::set<std::pair<std::string, std::string>> expected_nodes, discovered_nodes;

auto node1_ptr = new rcl_node_t;
*node1_ptr = rcl_get_zero_initialized_node();
const char * node1_name = "node1";
const char * node1_namespace = "/";
rcl_node_options_t node1_options = rcl_node_get_default_options();
ret = rcl_node_init(node1_ptr, node1_name, node1_namespace, &context, &node1_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
expected_nodes.insert(std::make_pair(std::string(node1_name), std::string(node1_namespace)));

auto node2_ptr = new rcl_node_t;
*node2_ptr = rcl_get_zero_initialized_node();
Expand All @@ -77,6 +83,7 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
rcl_node_options_t node2_options = rcl_node_get_default_options();
ret = rcl_node_init(node2_ptr, node2_name, node2_namespace, &context, &node2_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
expected_nodes.insert(std::make_pair(std::string(node2_name), std::string(node2_namespace)));

auto node3_ptr = new rcl_node_t;
*node3_ptr = rcl_get_zero_initialized_node();
Expand All @@ -85,6 +92,7 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
rcl_node_options_t node3_options = rcl_node_get_default_options();
ret = rcl_node_init(node3_ptr, node3_name, node3_namespace, &context, &node3_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
expected_nodes.insert(std::make_pair(std::string(node3_name), std::string(node3_namespace)));

auto node4_ptr = new rcl_node_t;
*node4_ptr = rcl_get_zero_initialized_node();
Expand All @@ -93,6 +101,7 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
rcl_node_options_t node4_options = rcl_node_get_default_options();
ret = rcl_node_init(node4_ptr, node4_name, node4_namespace, &context, &node4_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
expected_nodes.insert(std::make_pair(std::string(node4_name), std::string(node4_namespace)));

std::this_thread::sleep_for(1s);

Expand All @@ -106,17 +115,13 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
for (size_t i = 0; i < node_names.size; ++i) {
ss << node_names.data[i] << std::endl;
}
EXPECT_EQ(size_t(4), node_names.size) << ss.str();
EXPECT_STREQ(node1_name, node_names.data[0]);
EXPECT_STREQ(node2_name, node_names.data[1]);
EXPECT_STREQ(node3_name, node_names.data[2]);
EXPECT_STREQ(node4_name, node_names.data[3]);

EXPECT_EQ(size_t(4), node_namespaces.size) << ss.str();
EXPECT_STREQ(node1_namespace, node_namespaces.data[0]);
EXPECT_STREQ(node2_namespace, node_namespaces.data[1]);
EXPECT_STREQ(node3_namespace, node_namespaces.data[2]);
EXPECT_STREQ(node4_namespace, node_namespaces.data[3]);
EXPECT_EQ(node_names.size, node_namespaces.size) << ss.str();

for (size_t i = 0; i < node_names.size; ++i) {
discovered_nodes.insert(std::make_pair(std::string(node_names.data[i]),
std::string(node_namespaces.data[i])));
}
EXPECT_EQ(discovered_nodes, expected_nodes);

ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
Expand Down