Split test_executors up into smaller chunks. (#2421)

The original reason is that on Windows Debug, we were failing to compile because the compilation unit was too large. But also this file was way too large (1200 lines), so it makes sense to split it up. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Feb 1, 2024 · c10764f · c10764f
1 parent 99f0fc9
commit c10764f
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Showing 5 changed files with 624 additions and 523 deletions.
diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -441,6 +441,24 @@ if(TARGET test_executors)
   target_link_libraries(test_executors ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
 endif()
 
+ament_add_gtest(
+  test_executors_timer_cancel_behavior
+  executors/test_executors_timer_cancel_behavior.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  TIMEOUT 180)
+if(TARGET test_executors)
+  target_link_libraries(test_executors_timer_cancel_behavior ${PROJECT_NAME} ${rosgraph_msgs_TARGETS})
+endif()
+
+ament_add_gtest(
+  test_executors_intraprocess
+  executors/test_executors_intraprocess.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  TIMEOUT 180)
+if(TARGET test_executors)
+  target_link_libraries(test_executors_intraprocess ${PROJECT_NAME} ${test_msgs_TARGETS})
+endif()
+
 ament_add_gtest(test_static_single_threaded_executor executors/test_static_single_threaded_executor.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_static_single_threaded_executor)

diff --git a/rclcpp/test/rclcpp/executors/executor_types.hpp b/rclcpp/test/rclcpp/executors/executor_types.hpp
@@ -0,0 +1,70 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_
+#define RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <type_traits>
+
+#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/executors/static_single_threaded_executor.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
+
+using ExecutorTypes =
+  ::testing::Types<
+  rclcpp::executors::SingleThreadedExecutor,
+  rclcpp::executors::MultiThreadedExecutor,
+  rclcpp::executors::StaticSingleThreadedExecutor,
+  rclcpp::experimental::executors::EventsExecutor>;
+
+class ExecutorTypeNames
+{
+public:
+  template<typename T>
+  static std::string GetName(int idx)
+  {
+    (void)idx;
+    if (std::is_same<T, rclcpp::executors::SingleThreadedExecutor>()) {
+      return "SingleThreadedExecutor";
+    }
+
+    if (std::is_same<T, rclcpp::executors::MultiThreadedExecutor>()) {
+      return "MultiThreadedExecutor";
+    }
+
+    if (std::is_same<T, rclcpp::executors::StaticSingleThreadedExecutor>()) {
+      return "StaticSingleThreadedExecutor";
+    }
+
+    if (std::is_same<T, rclcpp::experimental::executors::EventsExecutor>()) {
+      return "EventsExecutor";
+    }
+
+    return "";
+  }
+};
+
+// StaticSingleThreadedExecutor is not included in these tests for now, due to:
+// https://github.com/ros2/rclcpp/issues/1219
+using StandardExecutors =
+  ::testing::Types<
+  rclcpp::executors::SingleThreadedExecutor,
+  rclcpp::executors::MultiThreadedExecutor,
+  rclcpp::experimental::executors::EventsExecutor>;
+
+#endif  // RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_