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Enable callback group tests for connextdds (ros2#2182)
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* Enable callback group tests for connextdds

* Enable executors and event executor tests for connextdds

* Enable qos events tests for connextdds

* Less flaky qos_event tests

Signed-off-by: Christopher Wecht <[email protected]>
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@cwecht @Barry-Xu-2018
cwecht authored and Barry-Xu-2018 committed Jan 12, 2024
1 parent 7e67615 commit 7a27c4f
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Showing 4 changed files with 36 additions and 278 deletions.
55 changes: 0 additions & 55 deletions rclcpp/test/rclcpp/executors/test_events_executor.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,6 @@ class TestEventsExecutor : public ::testing::Test

TEST_F(TestEventsExecutor, run_pub_sub)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

bool msg_received = false;
Expand Down Expand Up @@ -95,11 +90,6 @@ TEST_F(TestEventsExecutor, run_pub_sub)

TEST_F(TestEventsExecutor, run_clients_servers)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

bool request_received = false;
Expand Down Expand Up @@ -153,11 +143,6 @@ TEST_F(TestEventsExecutor, run_clients_servers)

TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

EventsExecutor executor;
Expand Down Expand Up @@ -190,11 +175,6 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)

TEST_F(TestEventsExecutor, spin_once_max_duration_timer)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

EventsExecutor executor;
Expand Down Expand Up @@ -226,11 +206,6 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timer)

TEST_F(TestEventsExecutor, spin_some_max_duration)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

{
auto node = std::make_shared<rclcpp::Node>("node");

Expand Down Expand Up @@ -277,11 +252,6 @@ TEST_F(TestEventsExecutor, spin_some_max_duration)

TEST_F(TestEventsExecutor, spin_some_zero_duration)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

size_t t_runs = 0;
Expand All @@ -303,11 +273,6 @@ TEST_F(TestEventsExecutor, spin_some_zero_duration)

TEST_F(TestEventsExecutor, spin_all_max_duration)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

{
auto node = std::make_shared<rclcpp::Node>("node");

Expand Down Expand Up @@ -358,11 +323,6 @@ TEST_F(TestEventsExecutor, spin_all_max_duration)

TEST_F(TestEventsExecutor, cancel_while_timers_running)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

EventsExecutor executor;
Expand Down Expand Up @@ -402,11 +362,6 @@ TEST_F(TestEventsExecutor, cancel_while_timers_running)

TEST_F(TestEventsExecutor, cancel_while_timers_waiting)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");

size_t t1_runs = 0;
Expand Down Expand Up @@ -435,11 +390,6 @@ TEST_F(TestEventsExecutor, destroy_entities)
// This test fails on Windows! We skip it for now
GTEST_SKIP();

// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

// Create a publisher node and start publishing messages
auto node_pub = std::make_shared<rclcpp::Node>("node_pub");
auto publisher = node_pub->create_publisher<test_msgs::msg::Empty>("topic", rclcpp::QoS(10));
Expand Down Expand Up @@ -485,11 +435,6 @@ std::string * g_sub_log_msg;
std::promise<void> * g_log_msgs_promise;
TEST_F(TestEventsExecutor, test_default_incompatible_qos_callbacks)
{
// rmw_connextdds doesn't support events-executor
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
GTEST_SKIP();
}

auto node = std::make_shared<rclcpp::Node>("node");
rcutils_logging_output_handler_t original_output_handler = rcutils_logging_get_output_handler();

Expand Down
120 changes: 0 additions & 120 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -135,14 +135,6 @@ TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
TYPED_TEST(TestExecutors, detachOnDestruction)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

{
ExecutorType executor;
executor.add_node(this->node);
Expand All @@ -159,14 +151,6 @@ TYPED_TEST(TestExecutors, detachOnDestruction)
TYPED_TEST(TestExecutorsStable, addTemporaryNode)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

{
Expand All @@ -187,14 +171,6 @@ TYPED_TEST(TestExecutorsStable, addTemporaryNode)
TYPED_TEST(TestExecutors, emptyExecutor)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
std::thread spinner([&]() {EXPECT_NO_THROW(executor.spin());});
std::this_thread::sleep_for(50ms);
Expand All @@ -206,14 +182,6 @@ TYPED_TEST(TestExecutors, emptyExecutor)
TYPED_TEST(TestExecutors, addNodeTwoExecutors)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor1;
ExecutorType executor2;
EXPECT_NO_THROW(executor1.add_node(this->node));
Expand All @@ -225,14 +193,6 @@ TYPED_TEST(TestExecutors, addNodeTwoExecutors)
TYPED_TEST(TestExecutors, spinWithTimer)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

bool timer_completed = false;
Expand All @@ -256,14 +216,6 @@ TYPED_TEST(TestExecutors, spinWithTimer)
TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down Expand Up @@ -291,14 +243,6 @@ TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand All @@ -322,14 +266,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand All @@ -354,14 +290,6 @@ TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down Expand Up @@ -409,14 +337,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down Expand Up @@ -529,14 +449,6 @@ class TestWaitable : public rclcpp::Waitable
TYPED_TEST(TestExecutors, spinAll)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
auto waitable_interfaces = this->node->get_node_waitables_interface();
auto my_waitable = std::make_shared<TestWaitable>();
Expand Down Expand Up @@ -579,14 +491,6 @@ TYPED_TEST(TestExecutors, spinAll)
TYPED_TEST(TestExecutors, spinSome)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
auto waitable_interfaces = this->node->get_node_waitables_interface();
auto my_waitable = std::make_shared<TestWaitable>();
Expand Down Expand Up @@ -629,14 +533,6 @@ TYPED_TEST(TestExecutors, spinSome)
TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

std::promise<bool> promise;
Expand All @@ -653,14 +549,6 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

std::promise<bool> promise;
Expand All @@ -677,14 +565,6 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;
executor.add_node(this->node);

Expand Down
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