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Complete publisher/subscription QoS query API test coverage. #120

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merged 2 commits into from
Sep 7, 2020
Merged

Complete publisher/subscription QoS query API test coverage. #120

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adb2e7f
Complete publisher/subscription QoS query API test coverage.
hidmic Aug 20, 2020
3b32d71
Drop no allocation requirement from QoS query API tests.
hidmic Aug 24, 2020
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4 changes: 2 additions & 2 deletions test_rmw_implementation/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ if(BUILD_TESTING)
target_compile_definitions(test_publisher${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
ament_target_dependencies(test_publisher${target_suffix}
rcutils rmw rmw_implementation test_msgs
osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
)

ament_add_gtest(test_subscription${target_suffix}
Expand All @@ -75,7 +75,7 @@ if(BUILD_TESTING)
target_compile_definitions(test_subscription${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
ament_target_dependencies(test_subscription${target_suffix}
rcutils rmw rmw_implementation test_msgs
osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
)

ament_add_gtest(test_serialize_deserialize${target_suffix}
Expand Down
23 changes: 21 additions & 2 deletions test_rmw_implementation/test/test_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@

#include <gtest/gtest.h>

#include "osrf_testing_tools_cpp/memory_tools/gtest_quickstart.hpp"

#include "rcutils/allocator.h"
#include "rcutils/strdup.h"

Expand Down Expand Up @@ -177,6 +179,7 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), destroy_with_bad_arguments)
}

TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), get_actual_qos_from_system_defaults) {
osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg;
rmw_publisher_options_t options = rmw_get_default_publisher_options();
constexpr char topic_name[] = "/test";
const rosidl_message_type_support_t * ts =
Expand All @@ -185,7 +188,11 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), get_actual_qos_from_system_
rmw_create_publisher(node, ts, topic_name, &rmw_qos_profile_system_default, &options);
ASSERT_NE(nullptr, pub) << rmw_get_error_string().str;
rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
rmw_ret_t ret = rmw_publisher_get_actual_qos(pub, &qos_profile);
rmw_ret_t ret;
EXPECT_NO_MEMORY_OPERATIONS(
{
ret = rmw_publisher_get_actual_qos(pub, &qos_profile);
});
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
// Check that a valid QoS policy has been put in place for each system default one.
EXPECT_NE(rmw_qos_profile_system_default.history, qos_profile.history);
Expand Down Expand Up @@ -239,11 +246,23 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), get_actual_qos_with_bad_
ret = rmw_publisher_get_actual_qos(pub, nullptr);
EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
rmw_reset_error();

const char * implementation_identifier = pub->implementation_identifier;
pub->implementation_identifier = "not-an-rmw-implementation-identifier";
ret = rmw_publisher_get_actual_qos(pub, &actual_qos_profile);
pub->implementation_identifier = implementation_identifier;
EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
rmw_reset_error();
}

TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), get_actual_qos) {
osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg;
rmw_qos_profile_t actual_qos_profile = rmw_qos_profile_unknown;
rmw_ret_t ret = rmw_publisher_get_actual_qos(pub, &actual_qos_profile);
rmw_ret_t ret;
EXPECT_NO_MEMORY_OPERATIONS(
{
ret = rmw_publisher_get_actual_qos(pub, &actual_qos_profile);
});
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
EXPECT_EQ(rmw_qos_profile_default.history, actual_qos_profile.history);
EXPECT_EQ(rmw_qos_profile_default.depth, actual_qos_profile.depth);
Expand Down
16 changes: 14 additions & 2 deletions test_rmw_implementation/test/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@

#include <gtest/gtest.h>

#include "osrf_testing_tools_cpp/memory_tools/gtest_quickstart.hpp"

#include "rcutils/allocator.h"
#include "rcutils/strdup.h"

Expand Down Expand Up @@ -176,6 +178,7 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), destroy_with_bad_argumen
}

TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), get_actual_qos_from_system_defaults) {
osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg;
rmw_subscription_options_t options = rmw_get_default_subscription_options();
constexpr char topic_name[] = "/test";
const rosidl_message_type_support_t * ts =
Expand All @@ -184,7 +187,11 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), get_actual_qos_from_syst
rmw_create_subscription(node, ts, topic_name, &rmw_qos_profile_system_default, &options);
ASSERT_NE(nullptr, sub) << rmw_get_error_string().str;
rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
rmw_ret_t ret = rmw_subscription_get_actual_qos(sub, &qos_profile);
rmw_ret_t ret;
EXPECT_NO_MEMORY_OPERATIONS(
{
ret = rmw_subscription_get_actual_qos(sub, &qos_profile);
});
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
// Check that a valid QoS policy has been put in place for each system default one.
EXPECT_NE(rmw_qos_profile_system_default.history, qos_profile.history);
Expand Down Expand Up @@ -248,8 +255,13 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), get_actual_qos_with_b
}

TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), get_actual_qos) {
osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg;
rmw_qos_profile_t actual_qos_profile = rmw_qos_profile_unknown;
rmw_ret_t ret = rmw_subscription_get_actual_qos(sub, &actual_qos_profile);
rmw_ret_t ret;
EXPECT_NO_MEMORY_OPERATIONS(
{
ret = rmw_subscription_get_actual_qos(sub, &actual_qos_profile);
});
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
EXPECT_EQ(rmw_qos_profile_default.history, actual_qos_profile.history);
EXPECT_EQ(rmw_qos_profile_default.depth, actual_qos_profile.depth);
Expand Down