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Add support for rmw_connextdds #895

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merged 4 commits into from
Mar 11, 2021
Merged

Add support for rmw_connextdds #895

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24afd46
Reset arguments to rcl_get_node_names() on each test iteration.
asorbini Jan 28, 2021
d7ecefb
Replace rmw_connext_cpp with rmw_connextdds
asorbini Mar 5, 2021
33595be
Remove references to OpenSplice
asorbini Mar 8, 2021
eca1b0c
Restore exceptions for ros2/rmw_connext to ease transition to rticomm…
asorbini Mar 9, 2021
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32 changes: 4 additions & 28 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -73,21 +73,12 @@ function(test_target_function)
AMENT_DEPENDENCIES ${rmw_implementation}
)

# TODO(hidmic): re-enable timer tests against RTI Connext once
# https://github.com/ros2/rcl/issues/687 is resolved
set(AMENT_GTEST_ARGS "")
if(rmw_implementation STREQUAL "rmw_connext_cpp")
message(STATUS "Skipping test_timer${target_suffix} test.")
set(AMENT_GTEST_ARGS "SKIP_TEST")
endif()

rcl_add_custom_gtest(test_timer${target_suffix}
SRCS rcl/test_timer.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
${AMENT_GTEST_ARGS}
)

rcl_add_custom_gtest(test_context${target_suffix}
Expand Down Expand Up @@ -122,39 +113,21 @@ function(test_target_function)
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
)

set(AMENT_GTEST_ARGS "")
# TODO(wjwwood): remove this when the graph API works properly for connext dynamic
if(rmw_implementation STREQUAL "rmw_connext_dynamic_cpp")
message(STATUS "Skipping test_graph${target_suffix} test.")
set(AMENT_GTEST_ARGS "SKIP_TEST")
# TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
elseif(rmw_implementation STREQUAL "rmw_connext_cpp")
message(STATUS "Increasing test_graph${target_suffix} test timeout.")
set(AMENT_GTEST_ARGS TIMEOUT 180)
endif()
rcl_add_custom_gtest(test_graph${target_suffix}
SRCS rcl/test_graph.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
TIMEOUT 120
${AMENT_GTEST_ARGS}
)

set(AMENT_GTEST_ARGS "")
# TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
if(rmw_implementation STREQUAL "rmw_connext_cpp")
message(STATUS "Increasing test_info_by_topic${target_suffix} test timeout.")
set(AMENT_GTEST_ARGS TIMEOUT 120)
endif()
rcl_add_custom_gtest(test_info_by_topic${target_suffix}
SRCS rcl/test_info_by_topic.cpp rcl/wait_for_entity_helpers.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
${AMENT_GTEST_ARGS}
)

rcl_add_custom_gtest(test_count_matched${target_suffix}
Expand Down Expand Up @@ -254,8 +227,11 @@ function(test_target_function)
LIBRARIES ${PROJECT_NAME} mimick
AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
)
# TODO(asorbini) Enable message timestamp tests for rmw_connextdds on Windows
# once clock incompatibilities are resolved.
if(rmw_implementation STREQUAL "rmw_fastrtps_cpp" OR
rmw_implementation STREQUAL "rmw_fastrtps_dynamic_cpp")
rmw_implementation STREQUAL "rmw_fastrtps_dynamic_cpp" OR
(rmw_implementation STREQUAL "rmw_connextdds" AND NOT WIN32))
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My major question here is why this is different with rmw_connextdds_cpp, when it seemingly worked before with rmw_connext_cpp. Do we have a good idea?

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the rmw_connext_cpp were being completely skipped, now they aren't skipped except than on Windows.
i.e.: it looks better now 😄

message(STATUS "Enabling message timestamp test for ${rmw_implementation}")
target_compile_definitions(test_subscription${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1" "RMW_RECEIVED_TIMESTAMP_SUPPORTED=1")
Expand Down
5 changes: 1 addition & 4 deletions rcl/test/rcl/test_get_actual_qos.cpp
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Expand Up @@ -430,10 +430,7 @@ get_parameters(bool for_publisher)
});
}
} else {
if (rmw_implementation_str == "rmw_connext_cpp" ||
rmw_implementation_str == "rmw_connext_dynamic_cpp" ||
rmw_implementation_str == "rmw_opensplice_cpp")
{
if (rmw_implementation_str == "rmw_opensplice_cpp") {
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/*
* Test with non-default settings.
*/
Expand Down
8 changes: 8 additions & 0 deletions rcl_action/test/rcl_action/test_graph.cpp
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Expand Up @@ -358,6 +358,14 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,
ret = rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces);
++attempts;
ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
if (node_names.size < 3u) {
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nice catch 👍

ret = rcutils_string_array_fini(&node_names);
ASSERT_EQ(RCUTILS_RET_OK, ret);
ret = rcutils_string_array_fini(&node_namespaces);
ASSERT_EQ(RCUTILS_RET_OK, ret);
node_names = rcutils_get_zero_initialized_string_array();
node_namespaces = rcutils_get_zero_initialized_string_array();
}
}
}

Expand Down