Skip to content

Commit

Permalink
Fix tests now that FastRTPS correctly reports that liveliness is not …
Browse files Browse the repository at this point in the history 
…supported (#452)

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
  • Loading branch information
@emersonknapp @dirk-thomas
emersonknapp authored and dirk-thomas committed May 28, 2019
1 parent d55f015 commit c39d0d1
Showing 1 changed file with 40 additions and 30 deletions.
70 changes: 40 additions & 30 deletions rcl/test/rcl/test_events.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,8 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
void SetUp()
{
is_opensplice = (std::string(rmw_get_implementation_identifier()).find("rmw_opensplice") == 0);
is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
is_manual_liveliness_unsupported = is_fastrtps;
bool is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
is_liveliness_supported = !is_fastrtps;

rcl_ret_t ret;
{
Expand Down Expand Up @@ -130,8 +130,13 @@ 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};
rmw_qos_liveliness_policy_t liveliness_policy = is_manual_liveliness_unsupported ?
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC : RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
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;

// init publisher
ret = setup_publisher(deadline, lifespan, lease_duration, liveliness_policy);
Expand Down Expand Up @@ -212,9 +217,8 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
rcl_event_t publisher_event;
rcl_subscription_t subscription;
rcl_event_t subscription_event;
bool is_fastrtps;
bool is_opensplice;
bool is_manual_liveliness_unsupported;
bool is_liveliness_supported;
const char * topic = "rcl_test_publisher_subscription_events";
const rosidl_message_type_support_t * ts;
};
Expand Down Expand Up @@ -346,30 +350,36 @@ conditional_wait_for_msgs_and_events(
}

TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_liveliness) {
if (is_manual_liveliness_unsupported) {
rmw_time_t deadline {0, 0};
rmw_time_t lifespan {0, 0};
rmw_time_t lease_duration {0, 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 subscriber RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE when unsupported";
EXPECT_EQ(RCL_RET_ERROR,
setup_publisher(deadline, lifespan, lease_duration,
liveliness_policy)) <<
"Initialized publisher 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 subscriber RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC when unsupported";
EXPECT_EQ(RCL_RET_ERROR,
setup_publisher(deadline, lifespan, lease_duration,
liveliness_policy)) <<
"Initialized publisher RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC when unsupported";
if (is_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 @@ -512,7 +522,7 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_mis
*/
TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_kill_pub)
{
if (is_manual_liveliness_unsupported) {
if (!is_liveliness_supported) {
return;
}

Expand Down

0 comments on commit c39d0d1

Please sign in to comment.