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 <[email protected]>
ros2 · Feb 26, 2024 · 513f670 · 513f670
1 parent 2e9a28a
commit 513f670
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Showing 17 changed files with 409 additions and 552 deletions.
diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt
diff --git 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
@@ -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();
@@ -128,16 +120,15 @@ 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);
   ASSERT_NE(nullptr, node) << rmw_get_error_string().str;
   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
@@ -167,20 +158,15 @@ 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);
   ASSERT_NE(nullptr, node) << rmw_get_error_string().str;
   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
@@ -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
@@ -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;