Reenable the test_intra_process* tests.

Signed-off-by: Chris Lalancette <[email protected]>
gonzodepedro · Dec 10, 2021 · 224b6d1 · 224b6d1
1 parent 09a8b8f
commit 224b6d1
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Showing 3 changed files with 31 additions and 22 deletions.
diff --git a/rclcpp/include/rclcpp/experimental/ros_message_intra_process_buffer.hpp b/rclcpp/include/rclcpp/experimental/ros_message_intra_process_buffer.hpp
@@ -15,16 +15,13 @@
 #ifndef RCLCPP__EXPERIMENTAL__ROS_MESSAGE_INTRA_PROCESS_BUFFER_HPP_
 #define RCLCPP__EXPERIMENTAL__ROS_MESSAGE_INTRA_PROCESS_BUFFER_HPP_
 
-#include <functional>
-#include <map>
 #include <memory>
-#include <stdexcept>
 #include <string>
-#include <utility>
 
 #include "rcl/error_handling.h"
 
 #include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/context.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "tracetools/tracetools.h"
 

diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -135,24 +135,24 @@ ament_add_gtest(
 if(TARGET test_future_return_code)
   target_link_libraries(test_future_return_code ${PROJECT_NAME})
 endif()
-# ament_add_gmock(test_intra_process_manager test_intra_process_manager.cpp)
-# if(TARGET test_intra_process_manager)
-#   ament_target_dependencies(test_intra_process_manager
-#     "rcl"
-#     "rcl_interfaces"
-#     "rmw"
-#     "rosidl_runtime_cpp"
-#     "rosidl_typesupport_cpp"
-#   )
-#   target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
-# endif()
-# ament_add_gmock(test_intra_process_manager_with_allocators test_intra_process_manager_with_allocators.cpp)
-# if(TARGET test_intra_process_manager_with_allocators)
-#   ament_target_dependencies(test_intra_process_manager_with_allocators
-#     "test_msgs"
-#   )
-#   target_link_libraries(test_intra_process_manager_with_allocators ${PROJECT_NAME})
-# endif()
+ament_add_gmock(test_intra_process_manager test_intra_process_manager.cpp)
+if(TARGET test_intra_process_manager)
+  ament_target_dependencies(test_intra_process_manager
+    "rcl"
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
+endif()
+ament_add_gmock(test_intra_process_manager_with_allocators test_intra_process_manager_with_allocators.cpp)
+if(TARGET test_intra_process_manager_with_allocators)
+  ament_target_dependencies(test_intra_process_manager_with_allocators
+    "test_msgs"
+  )
+  target_link_libraries(test_intra_process_manager_with_allocators ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_ring_buffer_implementation test_ring_buffer_implementation.cpp)
 if(TARGET test_ring_buffer_implementation)
   ament_target_dependencies(test_ring_buffer_implementation

diff --git a/rclcpp/test/rclcpp/test_intra_process_manager.cpp b/rclcpp/test/rclcpp/test_intra_process_manager.cpp
@@ -246,6 +246,18 @@ class SubscriptionIntraProcessBuffer : public SubscriptionIntraProcessBase
     buffer->add(std::move(msg));
   }
 
+  void
+  provide_intra_process_data(std::shared_ptr<const MessageT> msg)
+  {
+    buffer->add(msg);
+  }
+
+  void
+  provide_intra_process_data(std::unique_ptr<MessageT> msg)
+  {
+    buffer->add(std::move(msg));
+  }
+
   std::uintptr_t
   pop()
   {