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Call rclcpp::init and rclcpp::shutdown in each test for test_rclcpp #454

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Dec 1, 2020
Merged

Call rclcpp::init and rclcpp::shutdown in each test for test_rclcpp #454

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83e2fe3
Fix test_rclcpp system tests
brawner Dec 1, 2020
4770f4f
Cleanup
brawner Dec 1, 2020
1a4fa8f
Add comment about test failure
brawner Dec 1, 2020
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14 changes: 12 additions & 2 deletions test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
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Expand Up @@ -32,12 +32,22 @@
# define CLASSNAME(NAME, SUFFIX) NAME
#endif

class CLASSNAME (test_avoid_ros_namespace_conventions_qos, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

// Test communciation works with the avoid_ros_namespace_conventions QoS enabled.
TEST(
TEST_F(
CLASSNAME(test_avoid_ros_namespace_conventions_qos, RMW_IMPLEMENTATION),
pub_sub_works
) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
// topic name
std::string topic_name = "test_avoid_ros_namespace_conventions_qos";
// code to create the callback and subscription
Expand Down
14 changes: 12 additions & 2 deletions test_rclcpp/test/test_client_scope_client.cpp
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Expand Up @@ -30,8 +30,18 @@

using namespace std::chrono_literals;

TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test) {
auto node = rclcpp::Node::make_shared("client_scope_regression_test");

// Extra scope so the first client will be deleted afterwards
Expand Down
14 changes: 12 additions & 2 deletions test_rclcpp/test/test_client_scope_consistency_client.cpp
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Expand Up @@ -32,10 +32,20 @@

using namespace std::chrono_literals;

class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

// This test is concerned with the consistency of the two clients' behavior, not necessarily whether
// or not they are successful.
TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_regression_test) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_regression_test) {
auto node = rclcpp::Node::make_shared("client_scope_consistency_regression_test");

// Replicate the settings that caused https://github.com/ros2/system_tests/issues/153
Expand Down
14 changes: 12 additions & 2 deletions test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
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Expand Up @@ -29,9 +29,19 @@

using namespace std::chrono_literals;

class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

// rclcpp::shutdown() should wake up wait_for_service, even without spin.
TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), wait_for_service_shutdown) {
rclcpp::init(0, nullptr);
TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), wait_for_service_shutdown) {
auto node = rclcpp::Node::make_shared("wait_for_service_shutdown");

auto client = node->create_client<test_rclcpp::srv::AddTwoInts>("wait_for_service_shutdown");
Expand Down
26 changes: 16 additions & 10 deletions test_rclcpp/test/test_executor.cpp
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Expand Up @@ -40,8 +40,18 @@

using namespace std::chrono_literals;

TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), recursive_spin_call) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
class CLASSNAME (test_executor, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), recursive_spin_call) {
rclcpp::executors::SingleThreadedExecutor executor;
auto node = rclcpp::Node::make_shared("recursive_spin_call");
auto timer = node->create_wall_timer(
Expand All @@ -56,8 +66,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), recursive_spin_call) {
executor.spin();
}

TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
rclcpp::executors::SingleThreadedExecutor executor;
auto node = rclcpp::Node::make_shared("spin_some_max_duration");
auto lambda = []() {
Expand All @@ -80,8 +89,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
ASSERT_GT(max_duration + 500ms, end - start);
}

TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
rclcpp::executors::SingleThreadedExecutor executor;
auto node = rclcpp::Node::make_shared("multithreaded_spin_call");
std::mutex m;
Expand Down Expand Up @@ -113,8 +121,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
}

// Try spinning 2 single-threaded executors in two separate threads.
TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multiple_executors) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multiple_executors) {
std::atomic_uint counter1;
counter1 = 0;
std::atomic_uint counter2;
Expand Down Expand Up @@ -174,8 +181,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multiple_executors) {

// Check that the executor is notified when a node adds a new timer, publisher, subscription,
// service or client.
TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), notify) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), notify) {
rclcpp::executors::SingleThreadedExecutor executor;
auto executor_spin_lambda = [&executor]() {
executor.spin();
Expand Down
14 changes: 11 additions & 3 deletions test_rclcpp/test/test_intra_process.cpp
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Expand Up @@ -33,9 +33,18 @@
static const std::chrono::milliseconds sleep_per_loop(10);
static const int max_loops = 200;

TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_usage) {
rclcpp::init(0, nullptr);
class CLASSNAME (test_intra_process_within_one_node, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

TEST_F(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_usage) {
// use intra process = true
auto node = rclcpp::Node::make_shared(
"test_intra_process",
Expand Down Expand Up @@ -164,5 +173,4 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
printf("spin_node_some() - no callbacks expected\n");
executor.spin_node_some(node);
ASSERT_EQ(5, counter);
rclcpp::shutdown();
}
35 changes: 19 additions & 16 deletions test_rclcpp/test/test_local_parameters.cpp
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Expand Up @@ -33,8 +33,18 @@ using namespace std::chrono_literals;
# define CLASSNAME(NAME, SUFFIX) NAME
#endif

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
class CLASSNAME (test_local_parameters, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
rclcpp::Parameter pv("foo", "bar");
rclcpp::Parameter pv2("foo2", "bar2");
std::string json_dict = std::to_string(pv);
Expand Down Expand Up @@ -65,8 +75,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
std::to_string(pv).c_str());
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous");
declare_test_parameters(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
Expand All @@ -77,8 +86,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
test_get_parameters_sync(parameters_client);
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_repeated) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_repeated) {
auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous_repeated");
declare_test_parameters(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
Expand All @@ -92,8 +100,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_rep
}
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_asynchronous) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_asynchronous) {
auto node = rclcpp::Node::make_shared(std::string("test_parameters_local_asynchronous"));
declare_test_parameters(node);
auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
Expand Down Expand Up @@ -153,8 +160,7 @@ class ParametersAsyncNode : public rclcpp::Node

// Regression test for calling parameter client async services, but having the specified callback
// go out of scope before it gets called: see https://github.com/ros2/rclcpp/pull/414
TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_callback) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_callback) {
auto node = std::make_shared<ParametersAsyncNode>();
if (!node->parameters_client_->wait_for_service(20s)) {
ASSERT_TRUE(false) << "service not available after waiting";
Expand All @@ -166,8 +172,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_call
executor.spin();
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
node->declare_parameter("foo");
node->declare_parameter("bar");
Expand Down Expand Up @@ -290,8 +295,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
EXPECT_EQ(barfoo[2], 5);
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primitive_type) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primitive_type) {
auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
node->declare_parameter("foo");
node->declare_parameter("bar");
Expand Down Expand Up @@ -364,8 +368,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primiti
EXPECT_EQ(barfoo[2], 5);
}

TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant_type) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant_type) {
using rclcpp::Parameter;

auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
Expand Down
31 changes: 25 additions & 6 deletions test_rclcpp/test/test_multiple_service_calls.cpp
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Expand Up @@ -43,8 +43,18 @@ void handle_add_two_ints(
response->sum = request->a + request->b;
}

TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), two_service_calls) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
class CLASSNAME (test_two_service_calls, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

TEST_F(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), two_service_calls) {
auto node = rclcpp::Node::make_shared("test_two_service_calls");

auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
Expand Down Expand Up @@ -86,8 +96,7 @@ TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), two_service_calls) {

// Regression test for async client not being able to queue another request in a response callback.
// See https://github.com/ros2/rclcpp/pull/415
TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), recursive_service_call) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), recursive_service_call) {
auto node = rclcpp::Node::make_shared("test_recursive_service_call");

auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
Expand Down Expand Up @@ -134,8 +143,18 @@ TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), recursive_service_ca
EXPECT_TRUE(second_result_received);
}

TEST(CLASSNAME(test_multiple_service_calls, RMW_IMPLEMENTATION), multiple_clients) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
class CLASSNAME (test_multiple_service_calls, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

TEST_F(CLASSNAME(test_multiple_service_calls, RMW_IMPLEMENTATION), multiple_clients) {
const uint32_t n = 5;

auto node = rclcpp::Node::make_shared("test_multiple_clients");
Expand Down
26 changes: 16 additions & 10 deletions test_rclcpp/test/test_multithreaded.cpp
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Expand Up @@ -39,6 +39,17 @@

using namespace std::chrono_literals;

class CLASSNAME (test_multithreaded, RMW_IMPLEMENTATION) : public ::testing::Test {
public:
static void SetUpTestCase() {
rclcpp::init(0, nullptr);
}

static void TearDownTestCase() {
rclcpp::shutdown();
}
};

static inline void multi_consumer_pub_sub_test(bool intra_process)
{
std::string node_topic_name = "multi_consumer";
Expand Down Expand Up @@ -139,20 +150,17 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
EXPECT_EQ(expected_count, counter.load());
}

TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_single_producer) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_single_producer) {
// multiple subscriptions, single publisher
multi_consumer_pub_sub_test(false);
}

TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_intra_process) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_intra_process) {
// multiple subscriptions, single publisher, intra-process
multi_consumer_pub_sub_test(true);
}

TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients) {
// multiple clients, single server
auto node = rclcpp::Node::make_shared("multi_consumer_clients");
rclcpp::executors::MultiThreadedExecutor executor;
Expand Down Expand Up @@ -330,12 +338,10 @@ static inline void multi_access_publisher(bool intra_process)
ASSERT_EQ(subscription_counter, timer_counter.load());
}

TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_access_publisher) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_access_publisher) {
multi_access_publisher(false);
}

TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_access_publisher_intra_process) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
TEST_F(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_access_publisher_intra_process) {
multi_access_publisher(true);
}
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