Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Stop compiling rcl_action tests multiple times. #1165

Merged
merged 1 commit into from
Jul 2, 2024
Merged

Stop compiling rcl_action tests multiple times. #1165

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
83 changes: 46 additions & 37 deletions rcl_action/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,47 +102,56 @@ if(BUILD_TESTING)
target_compile_definitions(test_action_client PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
endif()

# get the rmw implementations ahead of time
find_package(rmw_implementation_cmake REQUIRED)
get_available_rmw_implementations(rmw_implementations)
foreach(rmw_implementation ${rmw_implementations})
find_package("${rmw_implementation}" REQUIRED)
endforeach()

function(custom_test_c target)
ament_add_gtest(
"${target}${target_suffix}" ${ARGN}
TIMEOUT 180
ENV
RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
RMW_IMPLEMENTATION=${rmw_implementation}
ament_add_gtest_executable(test_action_communication test/rcl_action/test_action_communication.cpp)
target_link_libraries(test_action_communication
${PROJECT_NAME}
${action_msgs_TARGETS}
osrf_testing_tools_cpp::memory_tools
rcl::rcl
rosidl_runtime_c::rosidl_runtime_c
${test_msgs_TARGETS})

ament_add_gtest_executable(test_action_interaction test/rcl_action/test_action_interaction.cpp)
target_link_libraries(test_action_interaction
${PROJECT_NAME}
${action_msgs_TARGETS}
osrf_testing_tools_cpp::memory_tools
rcl::rcl
rosidl_runtime_c::rosidl_runtime_c
${test_msgs_TARGETS})

ament_add_gtest_executable(test_graph test/rcl_action/test_graph.cpp)
target_compile_definitions(test_graph PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
target_link_libraries(test_graph
${PROJECT_NAME}
${action_msgs_TARGETS}
osrf_testing_tools_cpp::memory_tools
rcl::rcl
rcutils::rcutils
rosidl_runtime_c::rosidl_runtime_c
${test_msgs_TARGETS})

function(test_targets)
message(STATUS "Creating tests for '${rmw_implementation}'")
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})

ament_add_gtest_test(test_action_communication
TEST_NAME test_action_communication${target_suffix}
ENV ${rmw_implementation_env_var}
)
if(TARGET ${target}${target_suffix})
target_compile_definitions(${target}${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
target_compile_definitions(${target}${target_suffix}
PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
target_link_libraries(${target}${target_suffix}
${PROJECT_NAME}
osrf_testing_tools_cpp::memory_tools
rcl::rcl
rosidl_runtime_c::rosidl_runtime_c
${test_msgs_TARGETS}
)
endif()
endfunction()

macro(targets)
custom_test_c(test_action_communication
"test/rcl_action/test_action_communication.cpp")
custom_test_c(test_action_interaction
"test/rcl_action/test_action_interaction.cpp")
ament_add_gtest_test(test_action_interaction
TEST_NAME test_action_interaction${target_suffix}
ENV ${rmw_implementation_env_var}
)

custom_test_c(test_graph
"test/rcl_action/test_graph.cpp")
endmacro()
ament_add_gtest_test(test_graph
TEST_NAME test_graph${target_suffix}
ENV ${rmw_implementation_env_var}
)
endfunction()

call_for_each_rmw_implementation(targets)
call_for_each_rmw_implementation(test_targets)

ament_add_gtest(test_action_server
test/rcl_action/test_action_server.cpp
Expand Down
41 changes: 17 additions & 24 deletions rcl_action/test/rcl_action/test_action_communication.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,16 +27,11 @@

#include "rosidl_runtime_c/primitives_sequence_functions.h"

#include "test_msgs/action/fibonacci.h"
#include "action_msgs/srv/cancel_goal.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
#else
# define CLASSNAME(NAME, SUFFIX) NAME
#endif
#include "test_msgs/action/fibonacci.h"

class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing::Test
class TestActionCommunication : public ::testing::Test
{
protected:
void SetUp() override
Expand Down Expand Up @@ -182,7 +177,7 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
bool is_result_response_ready;
}; // class TestActionCommunication

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_comm)
TEST_F(TestActionCommunication, test_valid_goal_comm)
{
test_msgs__action__Fibonacci_SendGoal_Request outgoing_goal_request;
test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
Expand Down Expand Up @@ -288,8 +283,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
}


TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel_comm)
TEST_F(TestActionCommunication, test_valid_cancel_comm)
{
action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
action_msgs__srv__CancelGoal_Request incoming_cancel_request;
Expand Down Expand Up @@ -416,7 +410,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
action_msgs__srv__CancelGoal_Response__fini(&outgoing_cancel_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result_comm)
TEST_F(TestActionCommunication, test_valid_result_comm)
{
test_msgs__action__Fibonacci_GetResult_Request outgoing_result_request;
test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
Expand Down Expand Up @@ -531,7 +525,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status_comm)
TEST_F(TestActionCommunication, test_valid_status_comm)
{
action_msgs__msg__GoalStatusArray incoming_status_array;
action_msgs__msg__GoalStatusArray__init(&incoming_status_array);
Expand Down Expand Up @@ -607,7 +601,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(goal_handle));
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm)
TEST_F(TestActionCommunication, test_valid_feedback_comm)
{
test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
Expand Down Expand Up @@ -670,7 +664,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_request_opts)
TEST_F(TestActionCommunication, test_invalid_goal_request_opts)
{
test_msgs__action__Fibonacci_SendGoal_Request outgoing_goal_request;
test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
Expand Down Expand Up @@ -727,7 +721,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
test_msgs__action__Fibonacci_SendGoal_Request__fini(&incoming_goal_request);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_response_opts)
TEST_F(TestActionCommunication, test_invalid_goal_response_opts)
{
test_msgs__action__Fibonacci_SendGoal_Response outgoing_goal_response;
test_msgs__action__Fibonacci_SendGoal_Response incoming_goal_response;
Expand Down Expand Up @@ -788,7 +782,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_request_opts)
TEST_F(TestActionCommunication, test_invalid_cancel_request_opts)
{
action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
action_msgs__srv__CancelGoal_Request incoming_cancel_request;
Expand Down Expand Up @@ -846,8 +840,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
action_msgs__srv__CancelGoal_Request__fini(&outgoing_cancel_request);
}


TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_response_opts)
TEST_F(TestActionCommunication, test_invalid_cancel_response_opts)
{
action_msgs__srv__CancelGoal_Response outgoing_cancel_response;
action_msgs__srv__CancelGoal_Response incoming_cancel_response;
Expand Down Expand Up @@ -910,7 +903,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
action_msgs__srv__CancelGoal_Response__fini(&outgoing_cancel_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_request_opts)
TEST_F(TestActionCommunication, test_invalid_result_request_opts)
{
test_msgs__action__Fibonacci_GetResult_Request outgoing_result_request;
test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
Expand Down Expand Up @@ -966,7 +959,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
test_msgs__action__Fibonacci_GetResult_Request__fini(&outgoing_result_request);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_response_opts)
TEST_F(TestActionCommunication, test_invalid_result_response_opts)
{
test_msgs__action__Fibonacci_GetResult_Response outgoing_result_response;
test_msgs__action__Fibonacci_GetResult_Response incoming_result_response;
Expand Down Expand Up @@ -1029,7 +1022,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feedback_opts)
TEST_F(TestActionCommunication, test_invalid_feedback_opts)
{
test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
Expand Down Expand Up @@ -1081,7 +1074,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed
test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_status_opts)
TEST_F(TestActionCommunication, test_invalid_status_opts)
{
action_msgs__msg__GoalStatusArray incoming_status_array;
action_msgs__msg__GoalStatusArray__init(&incoming_status_array);
Expand Down Expand Up @@ -1130,7 +1123,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_stat
action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm_maybe_fail)
TEST_F(TestActionCommunication, test_valid_feedback_comm_maybe_fail)
{
test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
Expand Down
16 changes: 5 additions & 11 deletions rcl_action/test/rcl_action/test_action_interaction.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,16 +24,11 @@

#include "rosidl_runtime_c/primitives_sequence_functions.h"

#include "test_msgs/action/fibonacci.h"
#include "action_msgs/srv/cancel_goal.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
#else
# define CLASSNAME(NAME, SUFFIX) NAME
#endif
#include "test_msgs/action/fibonacci.h"

class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public ::testing::Test
class TestActionClientServerInteraction : public ::testing::Test
{
protected:
void SetUp() override
Expand Down Expand Up @@ -204,7 +199,7 @@ class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public
// Following the goal request, the client makes an asynchronous request for the
// result. The feedback is published to the action client as it executes the goal.
// Ultimately, a result message is populated which is then used as part of the result response.
TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_interaction)
TEST_F(TestActionClientServerInteraction, test_interaction)
{
// Initialize goal request
init_test_uuid0(this->outgoing_goal_request.goal_id.uuid);
Expand Down Expand Up @@ -467,8 +462,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
// This example is almost identical to the first, but this time the action client requests
// for the goal to be canceled mid-execution. Note that it is allowed to perform any shutdown
// operations after the cancel request before returning with the cancellation result.
TEST_F(
CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_interaction_with_cancel)
TEST_F(TestActionClientServerInteraction, test_interaction_with_cancel)
{
action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
action_msgs__srv__CancelGoal_Request incoming_cancel_request;
Expand Down
36 changes: 13 additions & 23 deletions rcl_action/test/rcl_action/test_graph.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,19 +30,12 @@

#include "test_msgs/action/fibonacci.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
#else
# define CLASSNAME(NAME, SUFFIX) NAME
#endif

void * bad_malloc(size_t, void *)
{
return NULL;
}

class CLASSNAME (TestActionGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
class TestActionGraphFixture : public ::testing::Test
{
public:
rcl_allocator_t allocator = rcl_get_default_allocator();
Expand Down Expand Up @@ -106,9 +99,7 @@ class CLASSNAME (TestActionGraphFixture, RMW_IMPLEMENTATION) : public ::testing:
}
};

TEST_F(
CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
test_action_get_client_names_and_types_by_node)
TEST_F(TestActionGraphFixture, test_action_get_client_names_and_types_by_node)
{
rcl_ret_t ret;
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
Expand Down Expand Up @@ -168,9 +159,7 @@ TEST_F(
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

TEST_F(
CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
test_action_get_server_names_and_types_by_node)
TEST_F(TestActionGraphFixture, test_action_get_server_names_and_types_by_node)
{
rcl_ret_t ret;
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
Expand Down Expand Up @@ -221,9 +210,7 @@ TEST_F(
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

TEST_F(
CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
test_action_get_names_and_types)
TEST_F(TestActionGraphFixture, test_action_get_names_and_types)
{
rcl_ret_t ret;
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
Expand Down Expand Up @@ -268,7 +255,7 @@ typedef std::function<
* Extend the TestActionGraphFixture with a multi-node fixture for node discovery and node-graph
* perspective.
*/
class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION)
class TestActionGraphMultiNodeFixture : public TestActionGraphFixture
{
public:
const char * remote_node_name = "remote_graph_node";
Expand All @@ -279,7 +266,7 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,

void SetUp() override
{
CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::SetUp();
TestActionGraphFixture::SetUp();

rcl_ret_t ret;
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
Expand Down Expand Up @@ -326,7 +313,7 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,

void TearDown() override
{
CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::TearDown();
TestActionGraphFixture::TearDown();

rcl_ret_t ret;
ret = rcl_node_fini(&this->remote_node);
Expand Down Expand Up @@ -395,7 +382,8 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,
};

// Note, this test could be affected by other communication on the same ROS domain
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types)
{
rcl_ret_t ret;
// Create an action client
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
Expand Down Expand Up @@ -472,7 +460,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
}

// Note, this test could be affected by other communication on the same ROS domain
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_by_node) {
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_by_node)
{
rcl_ret_t ret;
// Create an action client
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
Expand Down Expand Up @@ -538,7 +527,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_b
}

// Note, this test could be affected by other communication on the same ROS domain
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_by_node) {
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_by_node)
{
rcl_ret_t ret;
const rosidl_action_type_support_t * action_typesupport =
ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
Expand Down