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Skip some event tests on rmw_zenoh #1180

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merged 5 commits into from
Sep 5, 2024
Merged

Skip some event tests on rmw_zenoh #1180

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1e0101b
Skip some events test on rmw_zenoh
ahcorde Aug 29, 2024
1cfe0fb
avoid segfault
ahcorde Aug 29, 2024
9528650
avoid segfault
ahcorde Aug 29, 2024
926c436
make linters happy
ahcorde Aug 29, 2024
545d28d
Added feedback
ahcorde Sep 4, 2024
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1 change: 1 addition & 0 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
42 changes: 42 additions & 0 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,11 +134,17 @@ 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();
}
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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;
}

Expand Down Expand Up @@ -376,6 +382,10 @@ 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);
Expand Down Expand Up @@ -443,6 +453,10 @@ 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);
Expand Down Expand Up @@ -518,6 +532,10 @@ 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);
Expand Down Expand Up @@ -597,6 +615,10 @@ 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;
Expand Down Expand Up @@ -707,6 +729,11 @@ 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));

Expand Down Expand Up @@ -754,6 +781,10 @@ 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);
Expand Down Expand Up @@ -866,6 +897,10 @@ 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) {
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@Yadunund Yadunund Sep 26, 2024 •
edited
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@ahcorde this event should we supported in rmw_zenoh.

GTEST_SKIP();
}

rcl_ret_t ret;

// Create one publisher
Expand Down Expand Up @@ -977,6 +1012,10 @@ 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) {
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@Yadunund Yadunund Sep 26, 2024 •
edited
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@ahcorde this event should we supported in rmw_zenoh.

GTEST_SKIP();
}

rcl_ret_t ret;

// Create one subscriber
Expand Down Expand Up @@ -1199,6 +1238,9 @@ 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(
{
Expand Down