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Adjust test_executor for foxy
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Signed-off-by: Stephen Brawner <[email protected]>
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@brawner
brawner committed Oct 8, 2020
1 parent b184660 commit 6433853
Showing 1 changed file with 0 additions and 130 deletions.
130 changes: 0 additions & 130 deletions rclcpp/test/rclcpp/test_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,12 +51,6 @@ class DummyExecutor : public rclcpp::Executor
return memory_strategy_.get();
}

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr local_get_node_by_group(
rclcpp::CallbackGroup::SharedPtr group)
{
return get_node_by_group(weak_groups_to_nodes_, group);
}

rclcpp::CallbackGroup::SharedPtr local_get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
{
return get_group_by_timer(timer);
Expand Down Expand Up @@ -103,87 +97,6 @@ TEST_F(TestExecutor, constructor_bad_wait_set_init) {
std::runtime_error("Failed to create wait set in Executor constructor: error not set"));
}

TEST_F(TestExecutor, add_callback_group_twice) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
dummy.add_callback_group(cb_group, node->get_node_base_interface(), false);
cb_group->get_associated_with_executor_atomic().exchange(false);
RCLCPP_EXPECT_THROW_EQ(
dummy.add_callback_group(cb_group, node->get_node_base_interface(), false),
std::runtime_error("Callback group was already added to executor."));
}

TEST_F(TestExecutor, add_callback_group_failed_trigger_guard_condition) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);

auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
RCLCPP_EXPECT_THROW_EQ(
dummy.add_callback_group(cb_group, node->get_node_base_interface(), true),
std::runtime_error("Failed to trigger guard condition on callback group add: error not set"));
}

TEST_F(TestExecutor, remove_callback_group_null_node) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);

dummy.add_callback_group(cb_group, node->get_node_base_interface(), true);

node.reset();

RCLCPP_EXPECT_THROW_EQ(
dummy.remove_callback_group(cb_group, false),
std::runtime_error("Node must not be deleted before its callback group(s)."));
}

TEST_F(TestExecutor, remove_callback_group_failed_trigger_guard_condition) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);

dummy.add_callback_group(cb_group, node->get_node_base_interface(), true);

auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
RCLCPP_EXPECT_THROW_EQ(
dummy.remove_callback_group(cb_group, true),
std::runtime_error(
"Failed to trigger guard condition on callback group remove: error not set"));
}

TEST_F(TestExecutor, remove_node_not_associated) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);

RCLCPP_EXPECT_THROW_EQ(
dummy.remove_node(node->get_node_base_interface(), false),
std::runtime_error("Node needs to be associated with an executor."));
}

TEST_F(TestExecutor, remove_node_associated_with_different_executor) {
DummyExecutor dummy1;
auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
dummy1.add_node(node1->get_node_base_interface(), false);

DummyExecutor dummy2;
auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
dummy2.add_node(node2->get_node_base_interface(), false);

RCLCPP_EXPECT_THROW_EQ(
dummy2.remove_node(node1->get_node_base_interface(), false),
std::runtime_error("Node needs to be associated with this executor."));
}

TEST_F(TestExecutor, spin_node_once_nanoseconds) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
Expand Down Expand Up @@ -212,15 +125,6 @@ TEST_F(TestExecutor, spin_node_some) {
EXPECT_TRUE(timer_fired);
}

TEST_F(TestExecutor, spin_all_invalid_duration) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");

RCLCPP_EXPECT_THROW_EQ(
dummy.spin_all(std::chrono::nanoseconds(-1)),
std::invalid_argument("max_duration must be positive"));
}

TEST_F(TestExecutor, spin_some_in_spin_some) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
Expand Down Expand Up @@ -387,28 +291,6 @@ TEST_F(TestExecutor, spin_some_fail_wait) {
std::runtime_error("rcl_wait() failed: error not set"));
}

TEST_F(TestExecutor, get_node_by_group_null_group) {
DummyExecutor dummy;
ASSERT_EQ(nullptr, dummy.local_get_node_by_group(nullptr));
}

TEST_F(TestExecutor, get_node_by_group) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
dummy.add_callback_group(cb_group, node->get_node_base_interface(), false);
ASSERT_EQ(node->get_node_base_interface().get(), dummy.local_get_node_by_group(cb_group).get());
}

TEST_F(TestExecutor, get_node_by_group_not_found) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
ASSERT_EQ(nullptr, dummy.local_get_node_by_group(cb_group).get());
}

TEST_F(TestExecutor, get_group_by_timer_nullptr) {
DummyExecutor dummy;
ASSERT_EQ(nullptr, dummy.local_get_group_by_timer(nullptr));
Expand Down Expand Up @@ -439,15 +321,3 @@ TEST_F(TestExecutor, get_group_by_timer_with_deleted_group) {

ASSERT_EQ(nullptr, dummy.local_get_group_by_timer(timer).get());
}

TEST_F(TestExecutor, get_group_by_timer_add_callback_group) {
DummyExecutor dummy;
auto node = std::make_shared<rclcpp::Node>("node", "ns");
rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
auto timer =
node->create_wall_timer(std::chrono::milliseconds(1), [&]() {}, cb_group);
dummy.add_callback_group(cb_group, node->get_node_base_interface(), false);

ASSERT_EQ(cb_group.get(), dummy.local_get_group_by_timer(timer).get());
}

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