From 513f6701ccfeedaa0df64c478f8dece1ec1022aa Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Mon, 26 Feb 2024 11:48:56 -0500 Subject: [PATCH] Compile the test_rmw_implementation tests fewer times. (#224) We really only need to compile them once, and then we can run them with different RMW implementations. This also neatly sidesteps an incompatibility between current uncrustify and the newer one. Signed-off-by: Chris Lalancette --- test_rmw_implementation/CMakeLists.txt | 419 ++++++++++-------- test_rmw_implementation/test/test_client.cpp | 46 +- .../test/test_create_destroy_node.cpp | 32 +- .../test/test_duration_infinite.cpp | 11 +- test_rmw_implementation/test/test_event.cpp | 17 +- .../test/test_graph_api.cpp | 57 +-- .../test/test_init_options.cpp | 17 +- .../test/test_init_shutdown.cpp | 23 +- .../test/test_publisher.cpp | 71 ++- .../test/test_publisher_allocator.cpp | 11 +- .../test_qos_profile_check_compatible.cpp | 11 +- .../test/test_serialize_deserialize.cpp | 31 +- test_rmw_implementation/test/test_service.cpp | 44 +- .../test/test_subscription.cpp | 98 ++-- .../test/test_subscription_allocator.cpp | 11 +- .../test/test_unique_identifiers.cpp | 38 +- .../test/test_wait_set.cpp | 24 +- 17 files changed, 409 insertions(+), 552 deletions(-) diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt index 514fd22b..3fde4286 100644 --- a/test_rmw_implementation/CMakeLists.txt +++ b/test_rmw_implementation/CMakeLists.txt @@ -26,227 +26,278 @@ if(BUILD_TESTING) find_package(rosidl_runtime_c REQUIRED) find_package(test_msgs REQUIRED) - macro(test_api) - find_package(${rmw_implementation} REQUIRED) + # finding gtest once in the highest scope + # prevents finding it repeatedly in each local scope + ament_find_gtest() + + ament_add_gtest_executable(test_init_shutdown + test/test_init_shutdown.cpp + ) + target_link_libraries(test_init_shutdown + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ) + + ament_add_gtest_executable(test_init_options + test/test_init_options.cpp + ) + target_link_libraries(test_init_options + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ) + + ament_add_gtest_executable(test_create_destroy_node + test/test_create_destroy_node.cpp + ) + target_link_libraries(test_create_destroy_node + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ) + + ament_add_gtest_executable(test_publisher + test/test_publisher.cpp + ) + target_link_libraries(test_publisher + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_subscription + test/test_subscription.cpp + ) + target_link_libraries(test_subscription + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_dds_common::rmw_dds_common_library + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_serialize_deserialize + test/test_serialize_deserialize.cpp + ) + target_link_libraries(test_serialize_deserialize + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rosidl_runtime_c::rosidl_runtime_c + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_publisher_allocator + test/test_publisher_allocator.cpp + ) + target_link_libraries(test_publisher_allocator + rmw::rmw + rmw_implementation::rmw_implementation + ) + + ament_add_gtest_executable(test_subscription_allocator + test/test_subscription_allocator.cpp + ) + target_link_libraries(test_subscription_allocator + rmw::rmw + rmw_implementation::rmw_implementation + ) + + ament_add_gtest_executable(test_wait_set + test/test_wait_set.cpp + ) + target_link_libraries(test_wait_set + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_graph_api + test/test_graph_api.cpp + ) + target_link_libraries(test_graph_api + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_unique_identifiers + test/test_unique_identifiers.cpp + ) + target_link_libraries(test_unique_identifiers + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_service + test/test_service.cpp + ) + target_link_libraries(test_service + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_client + test/test_client.cpp + ) + target_link_libraries(test_client + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_qos_profile_check_compatible + test/test_qos_profile_check_compatible.cpp + ) + target_link_libraries(test_qos_profile_check_compatible + rmw::rmw + rmw_implementation::rmw_implementation + ) + + ament_add_gtest_executable(test_duration_infinite + test/test_duration_infinite.cpp + ) + target_link_libraries(test_duration_infinite + osrf_testing_tools_cpp::memory_tools + rcutils::rcutils + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + ament_add_gtest_executable(test_event + test/test_event.cpp + ) + target_link_libraries(test_event + osrf_testing_tools_cpp::memory_tools + rmw::rmw + rmw_implementation::rmw_implementation + ${test_msgs_TARGETS} + ) + + function(test_api) message(STATUS "Creating API tests for '${rmw_implementation}'") set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation}) - ament_add_gtest(test_init_shutdown${target_suffix} - test/test_init_shutdown.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_init_shutdown${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_init_shutdown${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation + ament_add_gtest_test(test_init_shutdown + TEST_NAME test_init_shutdown${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_init_options${target_suffix} - test/test_init_options.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_init_options${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_init_options${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation + ament_add_gtest_test(test_init_options + TEST_NAME test_init_options${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_create_destroy_node${target_suffix} - test/test_create_destroy_node.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_create_destroy_node${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_create_destroy_node${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation + ament_add_gtest_test(test_create_destroy_node + TEST_NAME test_create_destroy_node${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_publisher${target_suffix} - test/test_publisher.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_publisher${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_publisher${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ament_add_gtest_test(test_publisher + TEST_NAME test_publisher${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_subscription${target_suffix} - test/test_subscription.cpp - ENV ${rmw_implementation_env_var} + ament_add_gtest_test(test_subscription + TEST_NAME test_subscription${target_suffix} TIMEOUT 120 - ) - target_compile_definitions(test_subscription${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_subscription${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_dds_common::rmw_dds_common_library - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_serialize_deserialize${target_suffix} - test/test_serialize_deserialize.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_serialize_deserialize${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_serialize_deserialize${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rosidl_runtime_c::rosidl_runtime_c - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ament_add_gtest_test(test_serialize_deserialize + TEST_NAME test_serialize_deserialize${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_publisher_allocator${target_suffix} - test/test_publisher_allocator.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_publisher_allocator${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_publisher_allocator${target_suffix} - rmw::rmw - rmw_implementation::rmw_implementation + ament_add_gtest_test(test_publisher_allocator + TEST_NAME test_publisher_allocator${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_subscription_allocator${target_suffix} - test/test_subscription_allocator.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_subscription_allocator${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_subscription_allocator${target_suffix} - rmw::rmw - rmw_implementation::rmw_implementation + ament_add_gtest_test(test_subscription_allocator + TEST_NAME test_subscription_allocator${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_wait_set${target_suffix} - test/test_wait_set.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_wait_set${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_wait_set${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ament_add_gtest_test(test_wait_set + TEST_NAME test_wait_set${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_graph_api${target_suffix} - test/test_graph_api.cpp - ENV ${rmw_implementation_env_var} + ament_add_gtest_test(test_graph_api + TEST_NAME test_graph_api${target_suffix} TIMEOUT 120 - ) - target_compile_definitions(test_graph_api${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_graph_api${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_unique_identifiers${target_suffix} - test/test_unique_identifiers.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_unique_identifiers${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_unique_identifiers${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ament_add_gtest_test(test_unique_identifiers + TEST_NAME test_unique_identifiers${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_service${target_suffix} - test/test_service.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_service${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_service${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ament_add_gtest_test(test_service + TEST_NAME test_service${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_client${target_suffix} - test/test_client.cpp - ENV ${rmw_implementation_env_var} + ament_add_gtest_test(test_client + TEST_NAME test_client${target_suffix} TIMEOUT 120 - ) - target_compile_definitions(test_client${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_client${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_qos_profile_check_compatible${target_suffix} - test/test_qos_profile_check_compatible.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_qos_profile_check_compatible${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_qos_profile_check_compatible${target_suffix} - rmw::rmw - rmw_implementation::rmw_implementation + ament_add_gtest_test(test_qos_profile_check_compatible + TEST_NAME test_qos_profile_check_compatible${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_duration_infinite${target_suffix} - test/test_duration_infinite.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_duration_infinite${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_duration_infinite${target_suffix} - osrf_testing_tools_cpp::memory_tools - rcutils::rcutils - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ament_add_gtest_test(test_duration_infinite + TEST_NAME test_duration_infinite${target_suffix} + ENV + ${rmw_implementation_env_var} ) - ament_add_gtest(test_event${target_suffix} - test/test_event.cpp - ENV ${rmw_implementation_env_var} - ) - target_compile_definitions(test_event${target_suffix} - PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}") - target_link_libraries(test_event${target_suffix} - osrf_testing_tools_cpp::memory_tools - rmw::rmw - rmw_implementation::rmw_implementation - ${test_msgs_TARGETS} + ament_add_gtest_test(test_event + TEST_NAME test_event${target_suffix} + ENV + ${rmw_implementation_env_var} ) - endmacro() + endfunction() call_for_each_rmw_implementation(test_api) diff --git a/test_rmw_implementation/test/test_client.cpp b/test_rmw_implementation/test/test_client.cpp index d497e437..ffa6f426 100644 --- a/test_rmw_implementation/test/test_client.cpp +++ b/test_rmw_implementation/test/test_client.cpp @@ -28,14 +28,7 @@ #include "./config.hpp" #include "./testing_macros.hpp" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestClient, RMW_IMPLEMENTATION) : public ::testing::Test +class TestClient : public ::testing::Test { protected: void SetUp() override @@ -72,7 +65,7 @@ class CLASSNAME (TestClient, RMW_IMPLEMENTATION) : public ::testing::Test rmw_node_t * node{nullptr}; }; -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy) { +TEST_F(TestClient, create_and_destroy) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -83,7 +76,7 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy_native) { +TEST_F(TestClient, create_and_destroy_native) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -96,7 +89,7 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy_native) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_with_bad_arguments) { +TEST_F(TestClient, create_with_bad_arguments) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -159,7 +152,7 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_with_bad_arguments) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_with_internal_errors) { +TEST_F(TestClient, create_with_internal_errors) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -179,7 +172,7 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_with_internal_errors) { }); } -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), destroy_with_internal_errors) { +TEST_F(TestClient, destroy_with_internal_errors) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -197,15 +190,12 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), destroy_with_internal_errors) }); } -class CLASSNAME (TestClientUse, RMW_IMPLEMENTATION) - : public CLASSNAME(TestClient, RMW_IMPLEMENTATION) +class TestClientUse : public TestClient { protected: - using Base = CLASSNAME(TestClient, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestClient::SetUp(); client = rmw_create_client(node, ts, service_name, &qos_profile); ASSERT_NE(nullptr, client) << rmw_get_error_string().str; } @@ -214,7 +204,7 @@ class CLASSNAME (TestClientUse, RMW_IMPLEMENTATION) { rmw_ret_t ret = rmw_destroy_client(node, client); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestClient::TearDown(); } rmw_client_t * client{nullptr}; @@ -224,19 +214,19 @@ class CLASSNAME (TestClientUse, RMW_IMPLEMENTATION) rmw_qos_profile_t qos_profile{rmw_qos_profile_default}; }; -TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_null_node) { +TEST_F(TestClientUse, destroy_with_null_node) { rmw_ret_t ret = rmw_destroy_client(nullptr, client); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); rmw_reset_error(); } -TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_null_client) { +TEST_F(TestClientUse, destroy_null_client) { rmw_ret_t ret = rmw_destroy_client(node, nullptr); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); rmw_reset_error(); } -TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_node_of_another_impl) { +TEST_F(TestClientUse, destroy_with_node_of_another_impl) { const char * implementation_identifier = node->implementation_identifier; node->implementation_identifier = "not-an-rmw-implementation-identifier"; rmw_ret_t ret = rmw_destroy_client(node, client); @@ -245,7 +235,7 @@ TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_node_of_anothe rmw_reset_error(); } -TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_client_of_another_impl) { +TEST_F(TestClientUse, destroy_client_of_another_impl) { const char * implementation_identifier = client->implementation_identifier; client->implementation_identifier = "not-an-rmw-implementation-identifier"; rmw_ret_t ret = rmw_destroy_client(node, client); @@ -254,7 +244,7 @@ TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_client_of_another_i rmw_reset_error(); } -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), send_request_with_bad_arguments) { +TEST_F(TestClient, send_request_with_bad_arguments) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -296,7 +286,7 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), send_request_with_bad_argument rmw_reset_error(); } -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), take_response_with_bad_arguments) { +TEST_F(TestClient, take_response_with_bad_arguments) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -359,7 +349,7 @@ TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), take_response_with_bad_argumen rmw_reset_error(); } -TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available_bad_args) +TEST_F(TestClientUse, service_server_is_available_bad_args) { bool is_available; rmw_ret_t ret = rmw_service_server_is_available(nullptr, client, &is_available); @@ -382,7 +372,7 @@ TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available rmw_reset_error(); } -TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available_good_args) +TEST_F(TestClientUse, service_server_is_available_good_args) { bool is_available = false; rmw_ret_t ret = rmw_service_server_is_available(node, client, &is_available); @@ -409,7 +399,7 @@ TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available ASSERT_TRUE(is_available); } -TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), check_qos) { +TEST_F(TestClient, check_qos) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); diff --git a/test_rmw_implementation/test/test_create_destroy_node.cpp b/test_rmw_implementation/test/test_create_destroy_node.cpp index 62e84c06..dba2345c 100644 --- a/test_rmw_implementation/test/test_create_destroy_node.cpp +++ b/test_rmw_implementation/test/test_create_destroy_node.cpp @@ -24,15 +24,7 @@ #include "./testing_macros.hpp" - -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestNodeConstructionDestruction, RMW_IMPLEMENTATION) : public ::testing::Test +class TestNodeConstructionDestruction : public ::testing::Test { protected: void SetUp() override @@ -61,7 +53,7 @@ class CLASSNAME (TestNodeConstructionDestruction, RMW_IMPLEMENTATION) : public : rmw_context_t context; }; -TEST_F(CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), create_with_bad_arguments) { +TEST_F(TestNodeConstructionDestruction, create_with_bad_arguments) { const char * const node_name = "my_node"; const char * const node_namespace = "/my_ns"; @@ -107,7 +99,7 @@ TEST_F(CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), create_wi rmw_reset_error(); } -TEST_F(CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), destroy_with_bad_arguments) { +TEST_F(TestNodeConstructionDestruction, destroy_with_bad_arguments) { rmw_ret_t ret = rmw_destroy_node(nullptr); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); rmw_reset_error(); @@ -128,7 +120,7 @@ TEST_F(CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), destroy_w EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), create_and_destroy) { +TEST_F(TestNodeConstructionDestruction, create_and_destroy) { const char * const node_name = "my_node"; const char * const node_namespace = "/my_ns"; rmw_node_t * node = rmw_create_node(&context, node_name, node_namespace); @@ -136,8 +128,7 @@ TEST_F(CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), create_an EXPECT_EQ(RMW_RET_OK, rmw_destroy_node(node)) << rmw_get_error_string().str; } -class CLASSNAME (TestLocalhostNodeConstructionDestruction, - RMW_IMPLEMENTATION) : public ::testing::Test +class TestLocalhostNodeConstructionDestruction : public ::testing::Test { protected: void SetUp() override @@ -167,10 +158,7 @@ class CLASSNAME (TestLocalhostNodeConstructionDestruction, rmw_context_t context; }; -TEST_F( - CLASSNAME( - TestLocalhostNodeConstructionDestruction, - RMW_IMPLEMENTATION), create_and_destroy) { +TEST_F(TestLocalhostNodeConstructionDestruction, create_and_destroy) { const char * const node_name = "my_node"; const char * const node_namespace = "/my_ns"; rmw_node_t * node = rmw_create_node(&context, node_name, node_namespace); @@ -178,9 +166,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, rmw_destroy_node(node)) << rmw_get_error_string().str; } -TEST_F( - CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), - create_with_internal_errors) { +TEST_F(TestNodeConstructionDestruction, create_with_internal_errors) { RCUTILS_FAULT_INJECTION_TEST( { constexpr char node_name[] = "my_node"; @@ -198,9 +184,7 @@ TEST_F( }); } -TEST_F( - CLASSNAME(TestNodeConstructionDestruction, RMW_IMPLEMENTATION), - destroy_with_internal_errors) { +TEST_F(TestNodeConstructionDestruction, destroy_with_internal_errors) { RCUTILS_FAULT_INJECTION_TEST( { constexpr char node_name[] = "my_node"; diff --git a/test_rmw_implementation/test/test_duration_infinite.cpp b/test_rmw_implementation/test/test_duration_infinite.cpp index 82d49ae9..6cb841ac 100644 --- a/test_rmw_implementation/test/test_duration_infinite.cpp +++ b/test_rmw_implementation/test/test_duration_infinite.cpp @@ -24,14 +24,7 @@ #include "./config.hpp" #include "./testing_macros.hpp" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestDurationInfinite, RMW_IMPLEMENTATION) : public ::testing::Test +class TestDurationInfinite : public ::testing::Test { protected: void SetUp() override @@ -67,7 +60,7 @@ class CLASSNAME (TestDurationInfinite, RMW_IMPLEMENTATION) : public ::testing::T rmw_node_t * node; }; -TEST_F(CLASSNAME(TestDurationInfinite, RMW_IMPLEMENTATION), create_publisher) +TEST_F(TestDurationInfinite, create_publisher) { rmw_ret_t ret = RMW_RET_ERROR; size_t match_count = 0; diff --git a/test_rmw_implementation/test/test_event.cpp b/test_rmw_implementation/test/test_event.cpp index e6f7daab..52bd6fc5 100644 --- a/test_rmw_implementation/test/test_event.cpp +++ b/test_rmw_implementation/test/test_event.cpp @@ -29,14 +29,7 @@ #include "test_msgs/msg/basic_types.h" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestEvent, RMW_IMPLEMENTATION) : public ::testing::Test +class TestEvent : public ::testing::Test { protected: void SetUp() override @@ -116,7 +109,7 @@ void event_callback(const void * user_data, size_t number_of_events) } } -TEST_F(CLASSNAME(TestEvent, RMW_IMPLEMENTATION), basic_publisher_matched_event) { +TEST_F(TestEvent, basic_publisher_matched_event) { // Notice: Not support connextdds since it doesn't support rmw_event_set_callback() interface if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) { GTEST_SKIP(); @@ -204,7 +197,7 @@ TEST_F(CLASSNAME(TestEvent, RMW_IMPLEMENTATION), basic_publisher_matched_event) EXPECT_EQ(-2, matched_status.current_count_change); } -TEST_F(CLASSNAME(TestEvent, RMW_IMPLEMENTATION), basic_subscription_matched_event) { +TEST_F(TestEvent, basic_subscription_matched_event) { // Notice: Not support connextdds since it doesn't support rmw_event_set_callback() interface if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) { GTEST_SKIP(); @@ -295,7 +288,7 @@ TEST_F(CLASSNAME(TestEvent, RMW_IMPLEMENTATION), basic_subscription_matched_even EXPECT_EQ(-2, matched_status.current_count_change); } -TEST_F(CLASSNAME(TestEvent, RMW_IMPLEMENTATION), one_pub_multi_sub_connect_disconnect) { +TEST_F(TestEvent, one_pub_multi_sub_connect_disconnect) { rmw_publisher_t * pub = rmw_create_publisher(node, ts, topic_name, &rmw_qos_profile_default, &pub_options); ASSERT_NE(nullptr, pub) << rmw_get_error_string().str; @@ -354,7 +347,7 @@ TEST_F(CLASSNAME(TestEvent, RMW_IMPLEMENTATION), one_pub_multi_sub_connect_disco EXPECT_EQ(-1, matched_status.current_count_change); } -TEST_F(CLASSNAME(TestEvent, RMW_IMPLEMENTATION), one_sub_multi_pub_matched_unmatched_event) { +TEST_F(TestEvent, one_sub_multi_pub_matched_unmatched_event) { rmw_subscription_t * sub = rmw_create_subscription(node, ts, topic_name, &rmw_qos_profile_default, &sub_options); ASSERT_NE(nullptr, sub) << rmw_get_error_string().str; diff --git a/test_rmw_implementation/test/test_graph_api.cpp b/test_rmw_implementation/test/test_graph_api.cpp index d482f74b..19354fe0 100644 --- a/test_rmw_implementation/test/test_graph_api.cpp +++ b/test_rmw_implementation/test/test_graph_api.cpp @@ -32,14 +32,7 @@ #include "./config.hpp" #include "./testing_macros.hpp" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestGraphAPI, RMW_IMPLEMENTATION) : public ::testing::Test +class TestGraphAPI : public ::testing::Test { protected: void SetUp() override @@ -83,7 +76,7 @@ class CLASSNAME (TestGraphAPI, RMW_IMPLEMENTATION) : public ::testing::Test const char * const other_node_namespace = "/my_other_test_ns"; }; -TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), get_node_names_with_bad_arguments) { +TEST_F(TestGraphAPI, get_node_names_with_bad_arguments) { rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array(); rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array(); @@ -140,9 +133,7 @@ TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), get_node_names_with_bad_argu EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_node_names_with_enclaves_with_bad_arguments) { +TEST_F(TestGraphAPI, get_node_names_with_enclaves_with_bad_arguments) { rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array(); rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array(); rcutils_string_array_t enclaves = rcutils_get_zero_initialized_string_array(); @@ -223,9 +214,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_topic_names_and_types_with_bad_arguments) { +TEST_F(TestGraphAPI, get_topic_names_and_types_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); rmw_names_and_types_t topic_names_and_types = rmw_get_zero_initialized_names_and_types(); bool no_demangle = false; @@ -269,9 +258,7 @@ TEST_F( rmw_reset_error(); } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_service_names_and_types_with_bad_arguments) { +TEST_F(TestGraphAPI, get_service_names_and_types_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); rmw_names_and_types_t service_names_and_types = rmw_get_zero_initialized_names_and_types(); @@ -313,9 +300,7 @@ TEST_F( rmw_reset_error(); } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_subscriber_names_and_types_by_node_with_bad_arguments) { +TEST_F(TestGraphAPI, get_subscriber_names_and_types_by_node_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); rmw_names_and_types_t topic_names_and_types = rmw_get_zero_initialized_names_and_types(); bool no_demangle = false; @@ -418,9 +403,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, rmw_names_and_types_check_zero(&topic_names_and_types)); } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_publisher_names_and_types_by_node_with_bad_arguments) { +TEST_F(TestGraphAPI, get_publisher_names_and_types_by_node_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); rmw_names_and_types_t topic_names_and_types = rmw_get_zero_initialized_names_and_types(); bool no_demangle = false; @@ -523,9 +506,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, rmw_names_and_types_check_zero(&topic_names_and_types)); } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_service_names_and_types_by_node_with_bad_arguments) { +TEST_F(TestGraphAPI, get_service_names_and_types_by_node_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); rmw_names_and_types_t service_names_and_types = rmw_get_zero_initialized_names_and_types(); @@ -626,9 +607,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, rmw_names_and_types_check_zero(&service_names_and_types)); } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_client_names_and_types_by_node_with_bad_arguments) { +TEST_F(TestGraphAPI, get_client_names_and_types_by_node_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); rmw_names_and_types_t service_names_and_types = rmw_get_zero_initialized_names_and_types(); @@ -729,9 +708,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, rmw_names_and_types_check_zero(&service_names_and_types)); } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_publishers_info_by_topic_with_bad_arguments) { +TEST_F(TestGraphAPI, get_publishers_info_by_topic_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); constexpr char topic_name[] = "/test_topic"; bool no_mangle = false; @@ -793,9 +770,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F( - CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), - get_subscriptions_info_by_topic_with_bad_arguments) { +TEST_F(TestGraphAPI, get_subscriptions_info_by_topic_with_bad_arguments) { rcutils_allocator_t allocator = rcutils_get_default_allocator(); constexpr char topic_name[] = "/test_topic"; bool no_mangle = false; @@ -858,7 +833,7 @@ TEST_F( EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_publishers_with_bad_arguments) { +TEST_F(TestGraphAPI, count_publishers_with_bad_arguments) { size_t count = 0u; constexpr char topic_name[] = "/test_topic"; @@ -887,7 +862,7 @@ TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_publishers_with_bad_ar rmw_reset_error(); } -TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_subscribers_with_bad_arguments) { +TEST_F(TestGraphAPI, count_subscribers_with_bad_arguments) { size_t count = 0u; constexpr char topic_name[] = "/test_topic"; @@ -916,7 +891,7 @@ TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_subscribers_with_bad_a rmw_reset_error(); } -TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_clients_with_bad_arguments) { +TEST_F(TestGraphAPI, count_clients_with_bad_arguments) { size_t count = 0u; constexpr char service_name[] = "/test_service"; @@ -945,7 +920,7 @@ TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_clients_with_bad_argum rmw_reset_error(); } -TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_services_with_bad_arguments) { +TEST_F(TestGraphAPI, count_services_with_bad_arguments) { size_t count = 0u; constexpr char service_name[] = "/test_service"; // A null node is an invalid argument. @@ -973,7 +948,7 @@ TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_services_with_bad_argu rmw_reset_error(); } -TEST_F(CLASSNAME(TestGraphAPI, RMW_IMPLEMENTATION), count_clients_and_services) { +TEST_F(TestGraphAPI, count_clients_and_services) { constexpr char service_name[] = "/test_service"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); diff --git a/test_rmw_implementation/test/test_init_options.cpp b/test_rmw_implementation/test/test_init_options.cpp index ec976d78..21dfef55 100644 --- a/test_rmw_implementation/test/test_init_options.cpp +++ b/test_rmw_implementation/test/test_init_options.cpp @@ -23,16 +23,7 @@ #include "./allocator_testing_utils.h" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestInitOptions, RMW_IMPLEMENTATION) : public ::testing::Test {}; - -TEST_F(CLASSNAME(TestInitOptions, RMW_IMPLEMENTATION), init_copy_fini) { +TEST(TestInitOptions, init_copy_fini) { rmw_init_options_t src_options = rmw_get_zero_initialized_init_options(); rmw_ret_t ret = rmw_init_options_init(&src_options, rcutils_get_default_allocator()); ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; @@ -63,7 +54,7 @@ TEST_F(CLASSNAME(TestInitOptions, RMW_IMPLEMENTATION), init_copy_fini) { rcutils_reset_error(); } -TEST_F(CLASSNAME(TestInitOptions, RMW_IMPLEMENTATION), init_with_bad_arguments) { +TEST(TestInitOptions, init_with_bad_arguments) { rmw_init_options_t options = rmw_get_zero_initialized_init_options(); rmw_ret_t ret = rmw_init_options_init(&options, rcutils_get_zero_initialized_allocator()); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); @@ -80,7 +71,7 @@ TEST_F(CLASSNAME(TestInitOptions, RMW_IMPLEMENTATION), init_with_bad_arguments) EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; } -TEST_F(CLASSNAME(TestInitOptions, RMW_IMPLEMENTATION), copy_with_bad_arguments) { +TEST(TestInitOptions, copy_with_bad_arguments) { rmw_init_options_t src_options = rmw_get_zero_initialized_init_options(); rmw_init_options_t dst_options = rmw_get_zero_initialized_init_options(); @@ -118,7 +109,7 @@ TEST_F(CLASSNAME(TestInitOptions, RMW_IMPLEMENTATION), copy_with_bad_arguments) EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; } -TEST_F(CLASSNAME(TestInitOptions, RMW_IMPLEMENTATION), fini_with_bad_arguments) { +TEST(TestInitOptions, fini_with_bad_arguments) { rmw_init_options_t options = rmw_get_zero_initialized_init_options(); rmw_ret_t ret = rmw_init_options_fini(&options); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); diff --git a/test_rmw_implementation/test/test_init_shutdown.cpp b/test_rmw_implementation/test/test_init_shutdown.cpp index 01394400..1d7e61ec 100644 --- a/test_rmw_implementation/test/test_init_shutdown.cpp +++ b/test_rmw_implementation/test/test_init_shutdown.cpp @@ -26,14 +26,7 @@ #include "./testing_macros.hpp" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestInitShutdown, RMW_IMPLEMENTATION) : public ::testing::Test +class TestInitShutdown : public ::testing::Test { protected: void SetUp() override @@ -54,7 +47,7 @@ class CLASSNAME (TestInitShutdown, RMW_IMPLEMENTATION) : public ::testing::Test rmw_init_options_t options; }; -TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_with_bad_arguments) { +TEST_F(TestInitShutdown, init_with_bad_arguments) { rmw_context_t context = rmw_get_zero_initialized_context(); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init(nullptr, &context)); rcutils_reset_error(); @@ -87,7 +80,7 @@ TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_with_bad_arguments) EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; } -TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), shutdown_with_bad_arguments) { +TEST_F(TestInitShutdown, shutdown_with_bad_arguments) { rmw_ret_t ret = rmw_shutdown(nullptr); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); rcutils_reset_error(); @@ -113,7 +106,7 @@ TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), shutdown_with_bad_argume EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; } -TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), context_fini_with_bad_arguments) { +TEST_F(TestInitShutdown, context_fini_with_bad_arguments) { rmw_ret_t ret = rmw_context_fini(nullptr); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); rcutils_reset_error(); @@ -139,7 +132,7 @@ TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), context_fini_with_bad_ar EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; } -TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_shutdown) { +TEST_F(TestInitShutdown, init_shutdown) { rmw_context_t context = rmw_get_zero_initialized_context(); rmw_ret_t ret = rmw_init(&options, &context); ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; @@ -177,7 +170,7 @@ TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_shutdown) { EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str; } -TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_with_internal_errors) { +TEST_F(TestInitShutdown, init_with_internal_errors) { RCUTILS_FAULT_INJECTION_TEST( { rmw_context_t context = rmw_get_zero_initialized_context(); @@ -197,7 +190,7 @@ TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_with_internal_error }); } -TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), shutdown_with_internal_errors) { +TEST_F(TestInitShutdown, shutdown_with_internal_errors) { RCUTILS_FAULT_INJECTION_TEST( { rmw_ret_t ret = RMW_RET_OK; @@ -225,7 +218,7 @@ TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), shutdown_with_internal_e }); } -TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), context_fini_with_internal_errors) { +TEST_F(TestInitShutdown, context_fini_with_internal_errors) { RCUTILS_FAULT_INJECTION_TEST( { rmw_context_t context = rmw_get_zero_initialized_context(); diff --git a/test_rmw_implementation/test/test_publisher.cpp b/test_rmw_implementation/test/test_publisher.cpp index 97e1dc92..3354b46b 100644 --- a/test_rmw_implementation/test/test_publisher.cpp +++ b/test_rmw_implementation/test/test_publisher.cpp @@ -29,14 +29,7 @@ #include "./config.hpp" #include "./testing_macros.hpp" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestPublisher, RMW_IMPLEMENTATION) : public ::testing::Test +class TestPublisher : public ::testing::Test { protected: void SetUp() override @@ -72,7 +65,7 @@ class CLASSNAME (TestPublisher, RMW_IMPLEMENTATION) : public ::testing::Test rmw_node_t * node; }; -TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_and_destroy) { +TEST_F(TestPublisher, create_and_destroy) { rmw_publisher_options_t options = rmw_get_default_publisher_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -84,7 +77,7 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_and_destroy) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_with_internal_errors) { +TEST_F(TestPublisher, create_with_internal_errors) { constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes); @@ -106,7 +99,7 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_with_internal_errors }); } -TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_and_destroy_native) { +TEST_F(TestPublisher, create_and_destroy_native) { rmw_publisher_options_t options = rmw_get_default_publisher_options(); constexpr char topic_name[] = "test"; const rosidl_message_type_support_t * ts = @@ -120,7 +113,7 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_and_destroy_native) EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_with_bad_arguments) { +TEST_F(TestPublisher, create_with_bad_arguments) { rmw_publisher_options_t options = rmw_get_default_publisher_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -187,7 +180,7 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), create_with_bad_arguments) EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), destroy_with_bad_arguments) { +TEST_F(TestPublisher, destroy_with_bad_arguments) { rmw_publisher_options_t options = rmw_get_default_publisher_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -218,7 +211,7 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), destroy_with_bad_arguments) rmw_reset_error(); } -TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), destroy_with_internal_errors) { +TEST_F(TestPublisher, destroy_with_internal_errors) { constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes); @@ -238,7 +231,7 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), destroy_with_internal_error }); } -TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), get_actual_qos_from_system_defaults) { +TEST_F(TestPublisher, get_actual_qos_from_system_defaults) { rmw_publisher_options_t options = rmw_get_default_publisher_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -262,15 +255,12 @@ TEST_F(CLASSNAME(TestPublisher, RMW_IMPLEMENTATION), get_actual_qos_from_system_ EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -class CLASSNAME (TestPublisherUse, RMW_IMPLEMENTATION) - : public CLASSNAME(TestPublisher, RMW_IMPLEMENTATION) +class TestPublisherUse : public TestPublisher { protected: - using Base = CLASSNAME(TestPublisher, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestPublisher::SetUp(); // Relax QoS policies to force mismatch. qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; rmw_publisher_options_t options = rmw_get_default_publisher_options(); @@ -282,7 +272,7 @@ class CLASSNAME (TestPublisherUse, RMW_IMPLEMENTATION) { rmw_ret_t ret = rmw_destroy_publisher(node, pub); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestPublisher::TearDown(); } rmw_publisher_t * pub{nullptr}; @@ -292,7 +282,7 @@ class CLASSNAME (TestPublisherUse, RMW_IMPLEMENTATION) rmw_qos_profile_t qos_profile{rmw_qos_profile_default}; }; -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), get_actual_qos_with_bad_arguments) { +TEST_F(TestPublisherUse, get_actual_qos_with_bad_arguments) { rmw_qos_profile_t actual_qos_profile = rmw_qos_profile_unknown; rmw_ret_t ret = rmw_publisher_get_actual_qos(nullptr, &actual_qos_profile); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); @@ -310,7 +300,7 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), get_actual_qos_with_bad_ rmw_reset_error(); } -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), get_actual_qos) { +TEST_F(TestPublisherUse, get_actual_qos) { rmw_qos_profile_t actual_qos_profile = rmw_qos_profile_unknown; rmw_ret_t ret = rmw_publisher_get_actual_qos(pub, &actual_qos_profile); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; @@ -320,7 +310,7 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), get_actual_qos) { EXPECT_EQ(qos_profile.durability, actual_qos_profile.durability); } -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), count_matched_subscriptions_with_bad_args) { +TEST_F(TestPublisherUse, count_matched_subscriptions_with_bad_args) { size_t subscription_count = 0u; rmw_ret_t ret = rmw_publisher_count_matched_subscriptions(nullptr, &subscription_count); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); @@ -338,7 +328,7 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), count_matched_subscripti rmw_reset_error(); } -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), count_matched_subscriptions) { +TEST_F(TestPublisherUse, count_matched_subscriptions) { osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg; rmw_ret_t ret; @@ -388,7 +378,7 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), count_matched_subscripti EXPECT_EQ(0u, subscription_count); } -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), count_mismatched_subscriptions) { +TEST_F(TestPublisherUse, count_mismatched_subscriptions) { osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg; rmw_ret_t ret; @@ -433,9 +423,7 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), count_mismatched_subscri EXPECT_EQ(0u, subscription_count); } -TEST_F( - CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), - publish_message_with_bad_arguments) { +TEST_F(TestPublisherUse, publish_message_with_bad_arguments) { test_msgs__msg__BasicTypes input_message{}; ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&input_message)); rmw_publisher_allocation_t * null_allocation{nullptr}; // still valid allocation @@ -458,7 +446,7 @@ TEST_F( test_msgs__msg__BasicTypes__fini(&input_message); } -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), publish_with_internal_errors) { +TEST_F(TestPublisherUse, publish_with_internal_errors) { test_msgs__msg__BasicTypes message{}; ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&message)); rmw_publisher_allocation_t * null_allocation{nullptr}; // still a valid allocation @@ -472,9 +460,7 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), publish_with_internal_er }); } -TEST_F( - CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), - publish_serialized_message_with_bad_arguments) { +TEST_F(TestPublisherUse, publish_serialized_message_with_bad_arguments) { rmw_publisher_allocation_t * null_allocation{nullptr}; // still valid allocation rcutils_allocator_t default_allocator = rcutils_get_default_allocator(); rmw_serialized_message_t serialized_message = rmw_get_zero_initialized_serialized_message(); @@ -501,7 +487,7 @@ TEST_F( RMW_RET_OK, rmw_serialized_message_fini(&serialized_message)) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), publish_serialized_with_internal_errors) { +TEST_F(TestPublisherUse, publish_serialized_with_internal_errors) { test_msgs__msg__BasicTypes message{}; ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&message)); rcutils_allocator_t default_allocator = rcutils_get_default_allocator(); @@ -527,8 +513,8 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), publish_serialized_with_ }); } -TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), wait_for_all_acked_with_best_effort) { - // For best effort, alway return RMW_RET_OK immediately +TEST_F(TestPublisherUse, wait_for_all_acked_with_best_effort) { + // For best effort, always return RMW_RET_OK immediately rmw_ret_t ret = rmw_publisher_wait_for_all_acked(pub, {0, 0}); EXPECT_EQ(ret, RMW_RET_OK); @@ -537,15 +523,12 @@ TEST_F(CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION), wait_for_all_acked_with_ } -class CLASSNAME (TestPublisherUseLoan, RMW_IMPLEMENTATION) - : public CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION) +class TestPublisherUseLoan : public TestPublisherUse { protected: - using Base = CLASSNAME(TestPublisherUse, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestPublisherUse::SetUp(); // Check if loaning is supported by the implementation if (!pub->can_loan_messages) { void * msg_pointer = nullptr; @@ -568,13 +551,11 @@ class CLASSNAME (TestPublisherUseLoan, RMW_IMPLEMENTATION) void TearDown() override { - Base::TearDown(); + TestPublisherUse::TearDown(); } }; -TEST_F( - CLASSNAME(TestPublisherUseLoan, RMW_IMPLEMENTATION), - borrow_loaned_message_with_bad_arguments) { +TEST_F(TestPublisherUseLoan, borrow_loaned_message_with_bad_arguments) { void * msg_pointer = nullptr; rmw_ret_t ret = rmw_borrow_loaned_message(nullptr, ts, &msg_pointer); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret) << rmw_get_error_string().str; diff --git a/test_rmw_implementation/test/test_publisher_allocator.cpp b/test_rmw_implementation/test/test_publisher_allocator.cpp index 51b6b18c..00359e7d 100644 --- a/test_rmw_implementation/test/test_publisher_allocator.cpp +++ b/test_rmw_implementation/test/test_publisher_allocator.cpp @@ -15,16 +15,7 @@ #include "rmw/rmw.h" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestPublisherAllocator, RMW_IMPLEMENTATION) : public ::testing::Test {}; - -TEST_F(CLASSNAME(TestPublisherAllocator, RMW_IMPLEMENTATION), init_fini_publisher_allocation) +TEST(TestPublisherAllocator, init_fini_publisher_allocation) { if (rmw_init_publisher_allocation(nullptr, nullptr, nullptr) != RMW_RET_UNSUPPORTED) { // Add tests here when the implementation it's supported diff --git a/test_rmw_implementation/test/test_qos_profile_check_compatible.cpp b/test_rmw_implementation/test/test_qos_profile_check_compatible.cpp index 1f710272..9d4b1280 100644 --- a/test_rmw_implementation/test/test_qos_profile_check_compatible.cpp +++ b/test_rmw_implementation/test/test_qos_profile_check_compatible.cpp @@ -16,14 +16,7 @@ #include "rmw/qos_profiles.h" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -TEST(CLASSNAME(TestQoSProfilesAreCompatible, RMW_IMPLEMENTATION), compatible) { +TEST(TestQoSProfilesAreCompatible, compatible) { // A profile without system default or unknown values should be compatible with itself rmw_qos_profile_t qos = { RMW_QOS_POLICY_HISTORY_KEEP_LAST, @@ -44,7 +37,7 @@ TEST(CLASSNAME(TestQoSProfilesAreCompatible, RMW_IMPLEMENTATION), compatible) { EXPECT_EQ(compatible, RMW_QOS_COMPATIBILITY_OK); } -TEST(CLASSNAME(TestQoSProfilesAreCompatible, RMW_IMPLEMENTATION), invalid_input) { +TEST(TestQoSProfilesAreCompatible, invalid_input) { // Error on null 'compatible' parameter { rmw_ret_t ret = rmw_qos_profile_check_compatible( diff --git a/test_rmw_implementation/test/test_serialize_deserialize.cpp b/test_rmw_implementation/test/test_serialize_deserialize.cpp index 53022291..e40e15ac 100644 --- a/test_rmw_implementation/test/test_serialize_deserialize.cpp +++ b/test_rmw_implementation/test/test_serialize_deserialize.cpp @@ -33,24 +33,13 @@ #include "./allocator_testing_utils.h" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestSerializeDeserialize, RMW_IMPLEMENTATION) : public ::testing::Test -{ -}; - -TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), get_serialization_format) { +TEST(TestSerializeDeserialize, get_serialization_format) { const char * serialization_format = rmw_get_serialization_format(); EXPECT_NE(nullptr, serialization_format); EXPECT_STREQ(serialization_format, rmw_get_serialization_format()); } -TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), serialize_with_bad_arguments) { +TEST(TestSerializeDeserialize, serialize_with_bad_arguments) { const rosidl_message_type_support_t * ts{ ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes)}; test_msgs__msg__BasicTypes input_message{}; @@ -86,7 +75,7 @@ TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), serialize_with_b rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), clean_round_trip_for_c_message) { +TEST(TestSerializeDeserialize, clean_round_trip_for_c_message) { const rosidl_message_type_support_t * ts{ ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes)}; test_msgs__msg__BasicTypes input_message{}; @@ -119,10 +108,7 @@ TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), clean_round_trip rmw_get_error_string().str; } -TEST_F( - CLASSNAME( - TestSerializeDeserialize, - RMW_IMPLEMENTATION), clean_round_trip_for_c_bounded_message) { +TEST(TestSerializeDeserialize, clean_round_trip_for_c_bounded_message) { const rosidl_message_type_support_t * ts{ ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BoundedPlainSequences)}; test_msgs__msg__BoundedPlainSequences input_message{}; @@ -185,7 +171,7 @@ TEST_F( EXPECT_EQ(input_message.uint16_values.data[0], output_message.uint16_values.data[0]); } -TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), clean_round_trip_for_cpp_message) { +TEST(TestSerializeDeserialize, clean_round_trip_for_cpp_message) { const rosidl_message_type_support_t * ts = rosidl_typesupport_cpp::get_message_type_support_handle(); test_msgs::msg::BasicTypes input_message{}; @@ -214,10 +200,7 @@ TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), clean_round_trip rmw_get_error_string().str; } -TEST_F( - CLASSNAME( - TestSerializeDeserialize, - RMW_IMPLEMENTATION), clean_round_trip_for_cpp_bounded_message) { +TEST(TestSerializeDeserialize, clean_round_trip_for_cpp_bounded_message) { using TestMessage = test_msgs::msg::BoundedPlainSequences; const rosidl_message_type_support_t * ts = rosidl_typesupport_cpp::get_message_type_support_handle(); @@ -261,7 +244,7 @@ TEST_F( EXPECT_EQ(input_message, output_message); } -TEST_F(CLASSNAME(TestSerializeDeserialize, RMW_IMPLEMENTATION), rmw_get_serialized_message_size) +TEST(TestSerializeDeserialize, rmw_get_serialized_message_size) { if (rmw_get_serialized_message_size(nullptr, nullptr, nullptr) != RMW_RET_UNSUPPORTED) { // TODO(anyone): Add tests here when the implementation it's supported diff --git a/test_rmw_implementation/test/test_service.cpp b/test_rmw_implementation/test/test_service.cpp index cbb763b3..f0e21bfe 100644 --- a/test_rmw_implementation/test/test_service.cpp +++ b/test_rmw_implementation/test/test_service.cpp @@ -29,14 +29,7 @@ #include "./config.hpp" #include "./testing_macros.hpp" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestService, RMW_IMPLEMENTATION) : public ::testing::Test +class TestService : public ::testing::Test { protected: void SetUp() override @@ -73,7 +66,7 @@ class CLASSNAME (TestService, RMW_IMPLEMENTATION) : public ::testing::Test rmw_node_t * node{nullptr}; }; -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_and_destroy) { +TEST_F(TestService, create_and_destroy) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -84,7 +77,7 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_and_destroy) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_and_destroy_native) { +TEST_F(TestService, create_and_destroy_native) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -97,7 +90,7 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_and_destroy_native) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_with_bad_arguments) { +TEST_F(TestService, create_with_bad_arguments) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -161,7 +154,7 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_with_bad_arguments) { } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_with_internal_errors) { +TEST_F(TestService, create_with_internal_errors) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -180,7 +173,7 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_with_internal_errors) }); } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), destroy_with_internal_errors) { +TEST_F(TestService, destroy_with_internal_errors) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -198,15 +191,12 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), destroy_with_internal_errors) }); } -class CLASSNAME (TestServiceUse, RMW_IMPLEMENTATION) - : public CLASSNAME(TestService, RMW_IMPLEMENTATION) +class TestServiceUse : public TestService { protected: - using Base = CLASSNAME(TestService, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestService::SetUp(); constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -218,25 +208,25 @@ class CLASSNAME (TestServiceUse, RMW_IMPLEMENTATION) { rmw_ret_t ret = rmw_destroy_service(node, srv); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestService::TearDown(); } rmw_service_t * srv{nullptr}; }; -TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_with_null_node) { +TEST_F(TestServiceUse, destroy_with_null_node) { rmw_ret_t ret = rmw_destroy_service(nullptr, srv); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); rmw_reset_error(); } -TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_null_service) { +TEST_F(TestServiceUse, destroy_null_service) { rmw_ret_t ret = rmw_destroy_service(node, nullptr); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); rmw_reset_error(); } -TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_with_node_of_another_impl) { +TEST_F(TestServiceUse, destroy_with_node_of_another_impl) { const char * implementation_identifier = node->implementation_identifier; node->implementation_identifier = "not-an-rmw-implementation-identifier"; rmw_ret_t ret = rmw_destroy_service(node, srv); @@ -245,7 +235,7 @@ TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_with_node_of_anoth rmw_reset_error(); } -TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_service_of_another_impl) { +TEST_F(TestServiceUse, destroy_service_of_another_impl) { const char * implementation_identifier = srv->implementation_identifier; srv->implementation_identifier = "not-an-rmw-implementation-identifier"; rmw_ret_t ret = rmw_destroy_service(node, srv); @@ -254,7 +244,7 @@ TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_service_of_another rmw_reset_error(); } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), take_request_with_bad_arguments) { +TEST_F(TestService, take_request_with_bad_arguments) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -317,7 +307,7 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), take_request_with_bad_argumen rmw_reset_error(); } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), send_reponse_with_bad_arguments) { +TEST_F(TestService, send_reponse_with_bad_arguments) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -420,7 +410,7 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), send_reponse_with_bad_argumen srv->implementation_identifier = implementation_identifier; } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), send_reponse_with_client_gone) { +TEST_F(TestService, send_reponse_with_client_gone) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); @@ -516,7 +506,7 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), send_reponse_with_client_gone EXPECT_EQ(RMW_RET_OK, ret); } -TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), check_qos) { +TEST_F(TestService, check_qos) { constexpr char service_name[] = "/test"; const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes); diff --git a/test_rmw_implementation/test/test_subscription.cpp b/test_rmw_implementation/test/test_subscription.cpp index 38e54db3..033dfd8a 100644 --- a/test_rmw_implementation/test/test_subscription.cpp +++ b/test_rmw_implementation/test/test_subscription.cpp @@ -34,16 +34,9 @@ #include "rmw_dds_common/gid_utils.hpp" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - using rmw_dds_common::operator==; -class CLASSNAME (TestSubscription, RMW_IMPLEMENTATION) : public ::testing::Test +class TestSubscription : public ::testing::Test { protected: void SetUp() override @@ -77,7 +70,7 @@ class CLASSNAME (TestSubscription, RMW_IMPLEMENTATION) : public ::testing::Test rmw_node_t * node{nullptr}; }; -TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_and_destroy) { +TEST_F(TestSubscription, create_and_destroy) { rmw_subscription_options_t options = rmw_get_default_subscription_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -89,7 +82,7 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_and_destroy) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_and_destroy_native) { +TEST_F(TestSubscription, create_and_destroy_native) { rmw_subscription_options_t options = rmw_get_default_subscription_options(); constexpr char topic_name[] = "test"; const rosidl_message_type_support_t * ts = @@ -103,7 +96,7 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_and_destroy_nativ EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_bad_arguments) { +TEST_F(TestSubscription, create_with_bad_arguments) { rmw_subscription_options_t options = rmw_get_default_subscription_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -173,7 +166,7 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_bad_argument EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_internal_errors) { +TEST_F(TestSubscription, create_with_internal_errors) { constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes); @@ -195,7 +188,7 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_internal_err }); } -TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), destroy_with_bad_arguments) { +TEST_F(TestSubscription, destroy_with_bad_arguments) { rmw_subscription_options_t options = rmw_get_default_subscription_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -226,7 +219,7 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), destroy_with_bad_argumen rmw_reset_error(); } -TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), destroy_with_internal_errors) { +TEST_F(TestSubscription, destroy_with_internal_errors) { constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes); @@ -246,7 +239,7 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), destroy_with_internal_er }); } -TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), get_actual_qos_from_system_defaults) { +TEST_F(TestSubscription, get_actual_qos_from_system_defaults) { rmw_subscription_options_t options = rmw_get_default_subscription_options(); constexpr char topic_name[] = "/test"; const rosidl_message_type_support_t * ts = @@ -272,15 +265,12 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), get_actual_qos_from_syst EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -class CLASSNAME (TestSubscriptionUse, RMW_IMPLEMENTATION) - : public CLASSNAME(TestSubscription, RMW_IMPLEMENTATION) +class TestSubscriptionUse : public TestSubscription { protected: - using Base = CLASSNAME(TestSubscription, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestSubscription::SetUp(); // Tighten QoS policies to force mismatch. qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; rmw_subscription_options_t options = rmw_get_default_subscription_options(); @@ -292,7 +282,7 @@ class CLASSNAME (TestSubscriptionUse, RMW_IMPLEMENTATION) { rmw_ret_t ret = rmw_destroy_subscription(node, sub); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestSubscription::TearDown(); } rmw_subscription_t * sub{nullptr}; @@ -302,7 +292,7 @@ class CLASSNAME (TestSubscriptionUse, RMW_IMPLEMENTATION) rmw_qos_profile_t qos_profile{rmw_qos_profile_default}; }; -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), get_actual_qos_with_bad_arguments) { +TEST_F(TestSubscriptionUse, get_actual_qos_with_bad_arguments) { rmw_qos_profile_t actual_qos_profile = rmw_qos_profile_unknown; rmw_ret_t ret = rmw_subscription_get_actual_qos(nullptr, &actual_qos_profile); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); @@ -320,7 +310,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), get_actual_qos_with_b sub->implementation_identifier = implementation_identifier; } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), get_actual_qos) { +TEST_F(TestSubscriptionUse, get_actual_qos) { rmw_qos_profile_t actual_qos_profile = rmw_qos_profile_unknown; rmw_ret_t ret = rmw_subscription_get_actual_qos(sub, &actual_qos_profile); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; @@ -330,7 +320,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), get_actual_qos) { EXPECT_EQ(qos_profile.durability, actual_qos_profile.durability); } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), count_matched_publishers_with_bad_args) { +TEST_F(TestSubscriptionUse, count_matched_publishers_with_bad_args) { size_t publisher_count = 0u; rmw_ret_t ret = rmw_subscription_count_matched_publishers(nullptr, &publisher_count); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); @@ -348,7 +338,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), count_matched_publish rmw_reset_error(); } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), count_matched_subscriptions) { +TEST_F(TestSubscriptionUse, count_matched_subscriptions) { osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg; rmw_ret_t ret; @@ -398,7 +388,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), count_matched_subscri EXPECT_EQ(0u, publisher_count); } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), count_mismatched_subscriptions) { +TEST_F(TestSubscriptionUse, count_mismatched_subscriptions) { osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest sqg; rmw_ret_t ret; @@ -444,7 +434,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), count_mismatched_subs EXPECT_EQ(0u, publisher_count); } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_with_bad_args) { +TEST_F(TestSubscriptionUse, take_with_bad_args) { bool taken = false; test_msgs__msg__BasicTypes output_message{}; output_message.bool_value = true; @@ -479,7 +469,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_with_bad_args) { sub->implementation_identifier = implementation_identifier; } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_with_info_with_bad_args) { +TEST_F(TestSubscriptionUse, take_with_info_with_bad_args) { bool taken = false; test_msgs__msg__BasicTypes output_message{}; output_message.bool_value = true; @@ -528,7 +518,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_with_info_with_b sub->implementation_identifier = implementation_identifier; } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), ignore_local_publications) { +TEST_F(TestSubscriptionUse, ignore_local_publications) { rmw_ret_t ret; bool taken = false; @@ -629,7 +619,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), ignore_local_publicat } } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_sequence) { +TEST_F(TestSubscriptionUse, take_sequence) { size_t count = 1u; size_t taken = 10u; // Non-zero value to check variable update rcutils_allocator_t allocator = rcutils_get_default_allocator(); @@ -660,7 +650,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_sequence) { test_msgs__msg__Strings__Sequence__destroy(seq); } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_sequence_with_bad_args) { +TEST_F(TestSubscriptionUse, take_sequence_with_bad_args) { size_t count = 1u; size_t taken = 0u; rcutils_allocator_t allocator = rcutils_get_default_allocator(); @@ -770,7 +760,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_sequence_with_ba EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_serialized_with_bad_args) { +TEST_F(TestSubscriptionUse, take_serialized_with_bad_args) { rmw_subscription_allocation_t * null_allocation{nullptr}; // still valid allocation rcutils_allocator_t default_allocator = rcutils_get_default_allocator(); bool taken = false; @@ -825,9 +815,7 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), take_serialized_with_ RMW_RET_OK, rmw_serialized_message_fini(&original_message)) << rmw_get_error_string().str; } -TEST_F( - CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), - take_serialized_with_info_with_bad_args) { +TEST_F(TestSubscriptionUse, take_serialized_with_info_with_bad_args) { rmw_subscription_allocation_t * null_allocation{nullptr}; // still valid allocation rcutils_allocator_t default_allocator = rcutils_get_default_allocator(); bool taken = false; @@ -874,14 +862,14 @@ TEST_F( RMW_RET_OK, rmw_serialized_message_fini(&serialized_message)) << rmw_get_error_string().str; } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), no_content_filter_get) { +TEST_F(TestSubscriptionUse, no_content_filter_get) { rmw_subscription_content_filter_options_t options; auto allocator = rcutils_get_default_allocator(); rmw_ret_t ret = rmw_subscription_get_content_filter(sub, &allocator, &options); EXPECT_NE(RMW_RET_OK, ret); } -TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), no_content_filter_set) { +TEST_F(TestSubscriptionUse, no_content_filter_set) { rmw_ret_t ret; bool taken = false; @@ -1013,15 +1001,12 @@ TEST_F(CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION), no_content_filter_set } } -class CLASSNAME (TestSubscriptionUseLoan, RMW_IMPLEMENTATION) - : public CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION) +class TestSubscriptionUseLoan : public TestSubscriptionUse { protected: - using Base = CLASSNAME(TestSubscriptionUse, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestSubscriptionUse::SetUp(); // Check if loaning is supported by the implementation if (!sub->can_loan_messages) { bool taken = false; @@ -1047,11 +1032,11 @@ class CLASSNAME (TestSubscriptionUseLoan, RMW_IMPLEMENTATION) void TearDown() override { - Base::TearDown(); + TestSubscriptionUse::TearDown(); } }; -TEST_F(CLASSNAME(TestSubscriptionUseLoan, RMW_IMPLEMENTATION), rmw_take_loaned_message) { +TEST_F(TestSubscriptionUseLoan, rmw_take_loaned_message) { bool taken = false; void * loaned_message = nullptr; rmw_subscription_allocation_t * null_allocation{nullptr}; // still valid allocation @@ -1087,7 +1072,7 @@ TEST_F(CLASSNAME(TestSubscriptionUseLoan, RMW_IMPLEMENTATION), rmw_take_loaned_m } TEST_F( - CLASSNAME(TestSubscriptionUseLoan, RMW_IMPLEMENTATION), rmw_take_loaned_message_with_info) { + TestSubscriptionUseLoan, rmw_take_loaned_message_with_info) { bool taken = false; void * loaned_message = nullptr; rmw_message_info_t message_info = rmw_get_zero_initialized_message_info(); @@ -1135,9 +1120,7 @@ TEST_F( sub->implementation_identifier = implementation_identifier; } -TEST_F( - CLASSNAME(TestSubscriptionUseLoan, RMW_IMPLEMENTATION), - rmw_return_loaned_message_from_subscription) { +TEST_F(TestSubscriptionUseLoan, rmw_return_loaned_message_from_subscription) { test_msgs__msg__BasicTypes msg{}; rmw_ret_t ret = rmw_return_loaned_message_from_subscription(nullptr, &msg); EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret) << rmw_get_error_string().str; @@ -1185,15 +1168,12 @@ bool operator==(const rmw_message_info_t & m1, const rmw_message_info_t & m2) m1.from_intra_process == m2.from_intra_process; } -class CLASSNAME (TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION) - : public CLASSNAME(TestSubscription, RMW_IMPLEMENTATION) +class TestContentFilterSubscriptionUse : public TestSubscription { protected: - using Base = CLASSNAME(TestSubscription, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestSubscription::SetUp(); // Tighten QoS policies to force mismatch. qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; rmw_subscription_options_t options = rmw_get_default_subscription_options(); @@ -1234,7 +1214,7 @@ class CLASSNAME (TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION) { rmw_ret_t ret = rmw_destroy_subscription(node, sub); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestSubscription::TearDown(); } rmw_subscription_t * sub{nullptr}; @@ -1252,7 +1232,7 @@ class CLASSNAME (TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION) }; }; -TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), get_content_filter) { +TEST_F(TestContentFilterSubscriptionUse, get_content_filter) { rmw_subscription_content_filter_options_t options; auto allocator = rcutils_get_default_allocator(); rmw_ret_t ret = rmw_subscription_get_content_filter(sub, &allocator, &options); @@ -1273,7 +1253,7 @@ TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), get_cont } } -TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), set_content_filter) { +TEST_F(TestContentFilterSubscriptionUse, set_content_filter) { rmw_subscription_content_filter_options_t options = rmw_get_zero_initialized_content_filter_options(); auto allocator = rcutils_get_default_allocator(); @@ -1300,7 +1280,7 @@ TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), set_cont } } -TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), content_filter_get_begin) { +TEST_F(TestContentFilterSubscriptionUse, content_filter_get_begin) { rmw_ret_t ret; bool taken = false; @@ -1436,7 +1416,7 @@ TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), content_ } } -TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), content_filter_get_later) { +TEST_F(TestContentFilterSubscriptionUse, content_filter_get_later) { rmw_ret_t ret; bool taken = false; @@ -1582,7 +1562,7 @@ TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), content_ } } -TEST_F(CLASSNAME(TestContentFilterSubscriptionUse, RMW_IMPLEMENTATION), content_filter_reset) { +TEST_F(TestContentFilterSubscriptionUse, content_filter_reset) { rmw_ret_t ret; bool taken = false; diff --git a/test_rmw_implementation/test/test_subscription_allocator.cpp b/test_rmw_implementation/test/test_subscription_allocator.cpp index 9ee0b34c..2e3f59d8 100644 --- a/test_rmw_implementation/test/test_subscription_allocator.cpp +++ b/test_rmw_implementation/test/test_subscription_allocator.cpp @@ -15,16 +15,7 @@ #include "rmw/rmw.h" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestSubscriptionAllocator, RMW_IMPLEMENTATION) : public ::testing::Test {}; - -TEST_F(CLASSNAME(TestSubscriptionAllocator, RMW_IMPLEMENTATION), init_fini_subscription_allocation) +TEST(TestSubscriptionAllocator, init_fini_subscription_allocation) { if (rmw_init_subscription_allocation(nullptr, nullptr, nullptr) != RMW_RET_UNSUPPORTED) { // Add tests here when the implementation it's supported diff --git a/test_rmw_implementation/test/test_unique_identifiers.cpp b/test_rmw_implementation/test/test_unique_identifiers.cpp index 1a5dfe1e..14bbfc19 100644 --- a/test_rmw_implementation/test/test_unique_identifiers.cpp +++ b/test_rmw_implementation/test/test_unique_identifiers.cpp @@ -25,15 +25,7 @@ #include "test_msgs/msg/basic_types.h" #include "test_msgs/srv/basic_types.h" - -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestUniqueIdentifierAPI, RMW_IMPLEMENTATION) : public ::testing::Test +class TestUniqueIdentifierAPI : public ::testing::Test { protected: void SetUp() override @@ -89,7 +81,7 @@ class CLASSNAME (TestUniqueIdentifierAPI, RMW_IMPLEMENTATION) : public ::testing rmw_client_t * client{nullptr}; }; -TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), get_pub_gid_with_bad_args) { +TEST_F(TestUniqueIdentifierAPI, get_pub_gid_with_bad_args) { rmw_gid_t gid{}; rmw_ret_t ret = rmw_get_gid_for_publisher(pub, &gid); ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; @@ -124,7 +116,7 @@ TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), get_pub_gid_with_ } -TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), get_client_gid_with_bad_args) { +TEST_F(TestUniqueIdentifierAPI, get_client_gid_with_bad_args) { rmw_gid_t gid{}; rmw_ret_t ret = rmw_get_gid_for_client(client, &gid); ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; @@ -158,7 +150,7 @@ TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), get_client_gid_wi EXPECT_TRUE(gids_are_equal); } -TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), compare_gids_with_bad_args) { +TEST_F(TestUniqueIdentifierAPI, compare_gids_with_bad_args) { rmw_gid_t gid{}; rmw_ret_t ret = rmw_get_gid_for_publisher(pub, &gid); ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; @@ -192,7 +184,7 @@ TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), compare_gids_with rmw_reset_error(); } -TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), compare_gids) { +TEST_F(TestUniqueIdentifierAPI, compare_gids) { rmw_gid_t gid{}; rmw_ret_t ret = rmw_get_gid_for_publisher(pub, &gid); ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; @@ -209,14 +201,12 @@ TEST_F(CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION), compare_gids) { EXPECT_TRUE(are_equal); } -class CLASSNAME (TestUniqueIdentifiersForMultiplePublishers, RMW_IMPLEMENTATION) - : public CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION) +class TestUniqueIdentifiersForMultiplePublishers : public TestUniqueIdentifierAPI { protected: - using Base = CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION); void SetUp() override { - Base::SetUp(); + TestUniqueIdentifierAPI::SetUp(); rmw_publisher_options_t options = rmw_get_default_publisher_options(); constexpr char topic1_name[] = "/test0"; first_pub_for_topic1 = rmw_create_publisher( @@ -234,7 +224,7 @@ class CLASSNAME (TestUniqueIdentifiersForMultiplePublishers, RMW_IMPLEMENTATION) EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; ret = rmw_destroy_publisher(node, first_pub_for_topic1); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestUniqueIdentifierAPI::TearDown(); } rmw_publisher_t * first_pub_for_topic1{nullptr}; @@ -242,7 +232,7 @@ class CLASSNAME (TestUniqueIdentifiersForMultiplePublishers, RMW_IMPLEMENTATION) rmw_publisher_t * pub_for_topic0{nullptr}; }; -TEST_F(CLASSNAME(TestUniqueIdentifiersForMultiplePublishers, RMW_IMPLEMENTATION), different_pubs) { +TEST_F(TestUniqueIdentifiersForMultiplePublishers, different_pubs) { rmw_gid_t gid_of_pub_for_topic0{}; rmw_ret_t ret = rmw_get_gid_for_publisher(pub_for_topic0, &gid_of_pub_for_topic0); ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; @@ -268,14 +258,12 @@ TEST_F(CLASSNAME(TestUniqueIdentifiersForMultiplePublishers, RMW_IMPLEMENTATION) } -class CLASSNAME (TestUniqueIdentifiersForMultipleClients, RMW_IMPLEMENTATION) - : public CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION) +class TestUniqueIdentifiersForMultipleClients : public TestUniqueIdentifierAPI { protected: - using Base = CLASSNAME(TestUniqueIdentifierAPI, RMW_IMPLEMENTATION); void SetUp() override { - Base::SetUp(); + TestUniqueIdentifierAPI::SetUp(); constexpr char service_name[] = "/test_service1"; first_client_for_service1 = rmw_create_client( node, srv_ts, service_name, &qos_profile); @@ -292,7 +280,7 @@ class CLASSNAME (TestUniqueIdentifiersForMultipleClients, RMW_IMPLEMENTATION) EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; ret = rmw_destroy_client(node, second_client_for_service1); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestUniqueIdentifierAPI::TearDown(); } rmw_client_t * client_for_service0{nullptr}; @@ -301,7 +289,7 @@ class CLASSNAME (TestUniqueIdentifiersForMultipleClients, RMW_IMPLEMENTATION) }; -TEST_F(CLASSNAME(TestUniqueIdentifiersForMultipleClients, RMW_IMPLEMENTATION), different_clis) { +TEST_F(TestUniqueIdentifiersForMultipleClients, different_clis) { rmw_gid_t gid_of_client_for_service0{}; rmw_ret_t ret = rmw_get_gid_for_client(client_for_service0, &gid_of_client_for_service0); ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; diff --git a/test_rmw_implementation/test/test_wait_set.cpp b/test_rmw_implementation/test/test_wait_set.cpp index 5e9b01ee..3e656604 100644 --- a/test_rmw_implementation/test/test_wait_set.cpp +++ b/test_rmw_implementation/test/test_wait_set.cpp @@ -27,14 +27,7 @@ #include "test_msgs/msg/basic_types.h" #include "test_msgs/srv/basic_types.h" -#ifdef RMW_IMPLEMENTATION -# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX -# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) -#else -# define CLASSNAME(NAME, SUFFIX) NAME -#endif - -class CLASSNAME (TestWaitSet, RMW_IMPLEMENTATION) : public ::testing::Test +class TestWaitSet : public ::testing::Test { protected: void SetUp() override @@ -65,7 +58,7 @@ class CLASSNAME (TestWaitSet, RMW_IMPLEMENTATION) : public ::testing::Test rmw_context_t context; }; -TEST_F(CLASSNAME(TestWaitSet, RMW_IMPLEMENTATION), rmw_create_wait_set) +TEST_F(TestWaitSet, rmw_create_wait_set) { // Created a valid wait_set rmw_wait_set_t * wait_set = rmw_create_wait_set(&context, 0); @@ -98,15 +91,12 @@ TEST_F(CLASSNAME(TestWaitSet, RMW_IMPLEMENTATION), rmw_create_wait_set) }); } -class CLASSNAME (TestWaitSetUse, RMW_IMPLEMENTATION) - : public CLASSNAME(TestWaitSet, RMW_IMPLEMENTATION) +class TestWaitSetUse : public TestWaitSet { protected: - using Base = CLASSNAME(TestWaitSet, RMW_IMPLEMENTATION); - void SetUp() override { - Base::SetUp(); + TestWaitSet::SetUp(); constexpr char node_name[] = "my_node"; constexpr char node_namespace[] = "/my_ns"; node = rmw_create_node(&context, node_name, node_namespace); @@ -145,7 +135,7 @@ class CLASSNAME (TestWaitSetUse, RMW_IMPLEMENTATION) EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; ret = rmw_destroy_node(node); EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; - Base::TearDown(); + TestWaitSet::TearDown(); } rmw_node_t * node{nullptr}; @@ -163,7 +153,7 @@ class CLASSNAME (TestWaitSetUse, RMW_IMPLEMENTATION) var_name.internal_var_name ## s = var_name ## _storage; \ var_name.internal_var_name ## _count = size; -TEST_F(CLASSNAME(TestWaitSetUse, RMW_IMPLEMENTATION), rmw_wait) +TEST_F(TestWaitSetUse, rmw_wait) { constexpr size_t number_of_subscriptions = 1u; constexpr size_t number_of_guard_conditions = 1u; @@ -390,7 +380,7 @@ TEST_F(CLASSNAME(TestWaitSetUse, RMW_IMPLEMENTATION), rmw_wait) }); } -TEST_F(CLASSNAME(TestWaitSet, RMW_IMPLEMENTATION), rmw_destroy_wait_set) +TEST_F(TestWaitSet, rmw_destroy_wait_set) { // Try to destroy a nullptr rmw_ret_t ret = rmw_destroy_wait_set(nullptr);