From 1e0101bf7e25ee899ac0753373c92764f046c31a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Thu, 29 Aug 2024 13:06:01 +0200
Subject: [PATCH 1/5] Skip some events test on rmw_zenoh
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rcl/test/CMakeLists.txt      |  1 +
 rcl/test/rcl/test_events.cpp | 55 ++++++++++++++++++++++++++++++++++++
 2 files changed, 56 insertions(+)

diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index d8c9daa63..56b04eed6 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -308,6 +308,7 @@ function(test_target)
   ament_add_gtest_test(test_events
     TEST_NAME test_events${target_suffix}
     ENV ${rmw_implementation_env_var}
+    TIMEOUT 120
   )
 
   ament_add_gtest_test(test_wait
diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index 33ccc914e..c61db0404 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -134,11 +134,19 @@ class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEven
     // init publisher events
     publisher_event = rcl_get_zero_initialized_event();
     ret = rcl_publisher_event_init(&publisher_event, &publisher, pub_event_type);
+    if (ret == RCL_RET_UNSUPPORTED)
+    {
+      GTEST_SKIP();
+    }
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
 
     // init subscription event
     subscription_event = rcl_get_zero_initialized_event();
     ret = rcl_subscription_event_init(&subscription_event, &subscription, sub_event_type);
+    if (ret == RCL_RET_UNSUPPORTED)
+    {
+      GTEST_SKIP();
+    }
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   }
 
@@ -381,6 +389,12 @@ TEST_F(TestEventFixture, test_pubsub_no_deadline_missed)
     RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
   rcl_ret_t ret;
 
+  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
+  {
+    GTEST_SKIP();
+  }
+
+
   // publish message to topic
   const char * test_string = "testing";
   {
@@ -448,6 +462,11 @@ TEST_F(TestEventFixture, test_pubsub_deadline_missed)
     RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
   rcl_ret_t ret;
 
+  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
+  {
+    GTEST_SKIP();
+  }
+
   // publish message to topic
   const char * test_string = "testing";
   {
@@ -523,6 +542,11 @@ TEST_F(TestEventFixture, test_pubsub_liveliness_kill_pub)
     RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
   rcl_ret_t ret;
 
+  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
+  {
+    GTEST_SKIP();
+  }
+
   // publish message to topic
   const char * test_string = "testing";
   {
@@ -597,6 +621,10 @@ TEST_F(TestEventFixture, test_pubsub_liveliness_kill_pub)
  */
 TEST_P(TestEventFixture, test_pubsub_incompatible_qos)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   const auto & input = GetParam();
   const auto & qos_policy_kind = input.qos_policy_kind;
   const auto & publisher_qos_profile = input.publisher_qos_profile;
@@ -608,6 +636,11 @@ TEST_P(TestEventFixture, test_pubsub_incompatible_qos)
     RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
     RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
 
+  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
+  {
+    GTEST_SKIP();
+  }
+
   WaitConditionPredicate events_ready = [](
     const bool & /*msg_persist_ready*/,
     const bool & subscription_persist_ready,
@@ -707,6 +740,12 @@ TEST_F(TestEventFixture, test_event_is_valid)
 
   rcl_ret_t ret = rcl_publisher_event_init(
     &publisher_event_test, &publisher, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+
+  if (ret == RCL_RET_UNSUPPORTED)
+  {
+    GTEST_SKIP();
+  }
+
   ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   EXPECT_TRUE(rcl_event_is_valid(&publisher_event_test));
 
@@ -754,6 +793,10 @@ TEST_F(TestEventFixture, test_event_is_invalid) {
  */
 TEST_F(TestEventFixture, test_sub_message_lost_event)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   const rmw_qos_profile_t subscription_qos_profile = default_qos_profile;
 
   rcl_ret_t ret = setup_subscriber(subscription_qos_profile);
@@ -866,6 +909,10 @@ void event_callback(const void * user_data, size_t number_of_events)
  */
 TEST_F(TestEventFixture, test_pub_matched_unmatched_event)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   rcl_ret_t ret;
 
   // Create one publisher
@@ -977,6 +1024,10 @@ TEST_F(TestEventFixture, test_pub_matched_unmatched_event)
  */
 TEST_F(TestEventFixture, test_sub_matched_unmatched_event)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   rcl_ret_t ret;
 
   // Create one subscriber
@@ -1199,6 +1250,10 @@ TEST_F(TestEventFixture, test_sub_previous_matched_event)
   // init subscriber event
   rcl_event_t sub_matched_event = rcl_get_zero_initialized_event();
   ret = rcl_subscription_event_init(&sub_matched_event, &subscription, RCL_SUBSCRIPTION_MATCHED);
+  if (ret == RCL_RET_UNSUPPORTED)
+  {
+    GTEST_SKIP();
+  }
   ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
   {

From 1cfe0fba590a557b151cc99fd60d0dd017a613ed Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Thu, 29 Aug 2024 13:22:55 +0200
Subject: [PATCH 2/5] avoid segfault
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rcl/test/rcl/test_events.cpp | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index c61db0404..cdfa3de54 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -457,16 +457,15 @@ TEST_F(TestEventFixture, test_pubsub_no_deadline_missed)
  */
 TEST_F(TestEventFixture, test_pubsub_deadline_missed)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   setup_publisher_subscriber_and_events_and_assert_discovery(
     RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
     RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
   rcl_ret_t ret;
 
-  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
-  {
-    GTEST_SKIP();
-  }
-
   // publish message to topic
   const char * test_string = "testing";
   {

From 9528650ccb94c047837a51d9eeab1ef849d3dff1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Thu, 29 Aug 2024 13:24:23 +0200
Subject: [PATCH 3/5] avoid segfault
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rcl/test/rcl/test_events.cpp | 24 ++++++++----------------
 1 file changed, 8 insertions(+), 16 deletions(-)

diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index cdfa3de54..e6e33d668 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -384,17 +384,15 @@ conditional_wait_for_msgs_and_events(
  */
 TEST_F(TestEventFixture, test_pubsub_no_deadline_missed)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   setup_publisher_subscriber_and_events_and_assert_discovery(
     RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
     RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
   rcl_ret_t ret;
 
-  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
-  {
-    GTEST_SKIP();
-  }
-
-
   // publish message to topic
   const char * test_string = "testing";
   {
@@ -536,16 +534,15 @@ TEST_F(TestEventFixture, test_pubsub_deadline_missed)
  */
 TEST_F(TestEventFixture, test_pubsub_liveliness_kill_pub)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   setup_publisher_subscriber_and_events_and_assert_discovery(
     RCL_PUBLISHER_LIVELINESS_LOST,
     RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
   rcl_ret_t ret;
 
-  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
-  {
-    GTEST_SKIP();
-  }
-
   // publish message to topic
   const char * test_string = "testing";
   {
@@ -635,11 +632,6 @@ TEST_P(TestEventFixture, test_pubsub_incompatible_qos)
     RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
     RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
 
-  if (!rcl_event_is_valid(&subscription_event) || !rcl_event_is_valid(&publisher_event))
-  {
-    GTEST_SKIP();
-  }
-
   WaitConditionPredicate events_ready = [](
     const bool & /*msg_persist_ready*/,
     const bool & subscription_persist_ready,

From 926c436140c56384968795cbb5af4aa1f70958c5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Thu, 29 Aug 2024 13:38:45 +0200
Subject: [PATCH 4/5] make linters happy
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rcl/test/rcl/test_events.cpp | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index e6e33d668..da7f02ba0 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -134,8 +134,7 @@ class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEven
     // init publisher events
     publisher_event = rcl_get_zero_initialized_event();
     ret = rcl_publisher_event_init(&publisher_event, &publisher, pub_event_type);
-    if (ret == RCL_RET_UNSUPPORTED)
-    {
+    if (ret == RCL_RET_UNSUPPORTED) {
       GTEST_SKIP();
     }
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
@@ -143,8 +142,7 @@ class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEven
     // init subscription event
     subscription_event = rcl_get_zero_initialized_event();
     ret = rcl_subscription_event_init(&subscription_event, &subscription, sub_event_type);
-    if (ret == RCL_RET_UNSUPPORTED)
-    {
+    if (ret == RCL_RET_UNSUPPORTED) {
       GTEST_SKIP();
     }
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
@@ -732,8 +730,7 @@ TEST_F(TestEventFixture, test_event_is_valid)
   rcl_ret_t ret = rcl_publisher_event_init(
     &publisher_event_test, &publisher, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
 
-  if (ret == RCL_RET_UNSUPPORTED)
-  {
+  if (ret == RCL_RET_UNSUPPORTED) {
     GTEST_SKIP();
   }
 
@@ -1241,8 +1238,7 @@ TEST_F(TestEventFixture, test_sub_previous_matched_event)
   // init subscriber event
   rcl_event_t sub_matched_event = rcl_get_zero_initialized_event();
   ret = rcl_subscription_event_init(&sub_matched_event, &subscription, RCL_SUBSCRIPTION_MATCHED);
-  if (ret == RCL_RET_UNSUPPORTED)
-  {
+  if (ret == RCL_RET_UNSUPPORTED) {
     GTEST_SKIP();
   }
   ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

From 545d28d66d73d64d0f357eedb1fb986121815bf2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Wed, 4 Sep 2024 13:10:58 +0200
Subject: [PATCH 5/5] Added feedback
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rcl/test/rcl/test_events.cpp | 21 ++++++++-------------
 1 file changed, 8 insertions(+), 13 deletions(-)

diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index da7f02ba0..20bc7f0d0 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -134,17 +134,11 @@ class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEven
     // init publisher events
     publisher_event = rcl_get_zero_initialized_event();
     ret = rcl_publisher_event_init(&publisher_event, &publisher, pub_event_type);
-    if (ret == RCL_RET_UNSUPPORTED) {
-      GTEST_SKIP();
-    }
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
 
     // init subscription event
     subscription_event = rcl_get_zero_initialized_event();
     ret = rcl_subscription_event_init(&subscription_event, &subscription, sub_event_type);
-    if (ret == RCL_RET_UNSUPPORTED) {
-      GTEST_SKIP();
-    }
     ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   }
 
@@ -717,6 +711,10 @@ TEST_F(TestEventFixture, test_bad_event_ini)
  */
 TEST_F(TestEventFixture, test_event_is_valid)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   EXPECT_FALSE(rcl_event_is_valid(nullptr));
   EXPECT_TRUE(rcl_error_is_set());
   rcl_reset_error();
@@ -730,10 +728,6 @@ TEST_F(TestEventFixture, test_event_is_valid)
   rcl_ret_t ret = rcl_publisher_event_init(
     &publisher_event_test, &publisher, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
 
-  if (ret == RCL_RET_UNSUPPORTED) {
-    GTEST_SKIP();
-  }
-
   ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   EXPECT_TRUE(rcl_event_is_valid(&publisher_event_test));
 
@@ -1217,6 +1211,10 @@ TEST_F(TestEventFixture, test_pub_previous_matched_event)
 
 TEST_F(TestEventFixture, test_sub_previous_matched_event)
 {
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_zenoh_cpp") == 0) {
+    GTEST_SKIP();
+  }
+
   // While registering callback for matched event, exist previous matched event
   // will trigger callback at once.
 
@@ -1238,9 +1236,6 @@ TEST_F(TestEventFixture, test_sub_previous_matched_event)
   // init subscriber event
   rcl_event_t sub_matched_event = rcl_get_zero_initialized_event();
   ret = rcl_subscription_event_init(&sub_matched_event, &subscription, RCL_SUBSCRIPTION_MATCHED);
-  if (ret == RCL_RET_UNSUPPORTED) {
-    GTEST_SKIP();
-  }
   ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
   {