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Fix test_rcl_get_publishers_subscription_info_by_topic #571

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merged 1 commit into from
Feb 10, 2020
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Fix test_rcl_get_publishers_subscription_info_by_topic #571

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16 changes: 10 additions & 6 deletions rcl/test/rcl/test_info_by_topic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,12 +107,16 @@ class CLASSNAME (TestInfoByTopicFixture, RMW_IMPLEMENTATION) : public ::testing:
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

void assert_qos_equality(rmw_qos_profile_t qos_profile1, rmw_qos_profile_t qos_profile2)
void assert_qos_equality(
rmw_qos_profile_t qos_profile1, rmw_qos_profile_t qos_profile2,
bool is_publisher)
{
EXPECT_EQ(qos_profile1.deadline.sec, qos_profile2.deadline.sec);
EXPECT_EQ(qos_profile1.deadline.nsec, qos_profile2.deadline.nsec);
EXPECT_EQ(qos_profile1.lifespan.sec, qos_profile2.lifespan.sec);
EXPECT_EQ(qos_profile1.lifespan.nsec, qos_profile2.lifespan.nsec);
if (is_publisher) {
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EXPECT_EQ(qos_profile1.lifespan.sec, qos_profile2.lifespan.sec);
EXPECT_EQ(qos_profile1.lifespan.nsec, qos_profile2.lifespan.nsec);
}
EXPECT_EQ(qos_profile1.reliability, qos_profile2.reliability);
EXPECT_EQ(qos_profile1.liveliness, qos_profile2.liveliness);
EXPECT_EQ(
Expand Down Expand Up @@ -323,7 +327,7 @@ TEST_F(
if (!is_fastrtps) {
GTEST_SKIP();
}
rmw_qos_profile_t default_qos_profile;
rmw_qos_profile_t default_qos_profile = rmw_qos_profile_system_default;
default_qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
default_qos_profile.depth = 0;
default_qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
Expand Down Expand Up @@ -371,7 +375,7 @@ TEST_F(
EXPECT_STREQ(topic_endpoint_info_pub.node_name, this->test_graph_node_name);
EXPECT_STREQ(topic_endpoint_info_pub.node_namespace, "/");
EXPECT_STREQ(topic_endpoint_info_pub.topic_type, "test_msgs/msg/Strings");
assert_qos_equality(topic_endpoint_info_pub.qos_profile, default_qos_profile);
assert_qos_equality(topic_endpoint_info_pub.qos_profile, default_qos_profile, true);

rmw_topic_endpoint_info_array_t topic_endpoint_info_array_sub =
rmw_get_zero_initialized_topic_endpoint_info_array();
Expand All @@ -384,7 +388,7 @@ TEST_F(
EXPECT_STREQ(topic_endpoint_info_sub.node_name, this->test_graph_node_name);
EXPECT_STREQ(topic_endpoint_info_sub.node_namespace, "/");
EXPECT_STREQ(topic_endpoint_info_sub.topic_type, "test_msgs/msg/Strings");
assert_qos_equality(topic_endpoint_info_sub.qos_profile, default_qos_profile);
assert_qos_equality(topic_endpoint_info_sub.qos_profile, default_qos_profile, false);

// clean up
rmw_ret_t rmw_ret =
Expand Down