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cwechtcwecht
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Enable executors and event executor tests for connextdds
1 parent 1479fbc commit 99749b1

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2 files changed

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-175
lines changed

2 files changed

+0
-175
lines changed

‎rclcpp/test/rclcpp/executors/test_events_executor.cpp‎

Lines changed: 0 additions & 55 deletions
Original file line numberDiff line numberDiff line change
@@ -43,11 +43,6 @@ class TestEventsExecutor : public ::testing::Test
4343

4444
TEST_F(TestEventsExecutor, run_pub_sub)
4545
{
46-
// rmw_connextdds doesn't support events-executor
47-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
48-
GTEST_SKIP();
49-
}
50-
5146
auto node = std::make_shared<rclcpp::Node>("node");
5247

5348
bool msg_received = false;
@@ -95,11 +90,6 @@ TEST_F(TestEventsExecutor, run_pub_sub)
9590

9691
TEST_F(TestEventsExecutor, run_clients_servers)
9792
{
98-
// rmw_connextdds doesn't support events-executor
99-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
100-
GTEST_SKIP();
101-
}
102-
10393
auto node = std::make_shared<rclcpp::Node>("node");
10494

10595
bool request_received = false;
@@ -153,11 +143,6 @@ TEST_F(TestEventsExecutor, run_clients_servers)
153143

154144
TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)
155145
{
156-
// rmw_connextdds doesn't support events-executor
157-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
158-
GTEST_SKIP();
159-
}
160-
161146
auto node = std::make_shared<rclcpp::Node>("node");
162147

163148
EventsExecutor executor;
@@ -190,11 +175,6 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)
190175

191176
TEST_F(TestEventsExecutor, spin_once_max_duration_timer)
192177
{
193-
// rmw_connextdds doesn't support events-executor
194-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
195-
GTEST_SKIP();
196-
}
197-
198178
auto node = std::make_shared<rclcpp::Node>("node");
199179

200180
EventsExecutor executor;
@@ -226,11 +206,6 @@ TEST_F(TestEventsExecutor, spin_once_max_duration_timer)
226206

227207
TEST_F(TestEventsExecutor, spin_some_max_duration)
228208
{
229-
// rmw_connextdds doesn't support events-executor
230-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
231-
GTEST_SKIP();
232-
}
233-
234209
{
235210
auto node = std::make_shared<rclcpp::Node>("node");
236211

@@ -277,11 +252,6 @@ TEST_F(TestEventsExecutor, spin_some_max_duration)
277252

278253
TEST_F(TestEventsExecutor, spin_some_zero_duration)
279254
{
280-
// rmw_connextdds doesn't support events-executor
281-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
282-
GTEST_SKIP();
283-
}
284-
285255
auto node = std::make_shared<rclcpp::Node>("node");
286256

287257
size_t t_runs = 0;
@@ -303,11 +273,6 @@ TEST_F(TestEventsExecutor, spin_some_zero_duration)
303273

304274
TEST_F(TestEventsExecutor, spin_all_max_duration)
305275
{
306-
// rmw_connextdds doesn't support events-executor
307-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
308-
GTEST_SKIP();
309-
}
310-
311276
{
312277
auto node = std::make_shared<rclcpp::Node>("node");
313278

@@ -358,11 +323,6 @@ TEST_F(TestEventsExecutor, spin_all_max_duration)
358323

359324
TEST_F(TestEventsExecutor, cancel_while_timers_running)
360325
{
361-
// rmw_connextdds doesn't support events-executor
362-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
363-
GTEST_SKIP();
364-
}
365-
366326
auto node = std::make_shared<rclcpp::Node>("node");
367327

368328
EventsExecutor executor;
@@ -402,11 +362,6 @@ TEST_F(TestEventsExecutor, cancel_while_timers_running)
402362

403363
TEST_F(TestEventsExecutor, cancel_while_timers_waiting)
404364
{
405-
// rmw_connextdds doesn't support events-executor
406-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
407-
GTEST_SKIP();
408-
}
409-
410365
auto node = std::make_shared<rclcpp::Node>("node");
411366

412367
size_t t1_runs = 0;
@@ -435,11 +390,6 @@ TEST_F(TestEventsExecutor, destroy_entities)
435390
// This test fails on Windows! We skip it for now
436391
GTEST_SKIP();
437392

438-
// rmw_connextdds doesn't support events-executor
439-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
440-
GTEST_SKIP();
441-
}
442-
443393
// Create a publisher node and start publishing messages
444394
auto node_pub = std::make_shared<rclcpp::Node>("node_pub");
445395
auto publisher = node_pub->create_publisher<test_msgs::msg::Empty>("topic", rclcpp::QoS(10));
@@ -485,11 +435,6 @@ std::string * g_sub_log_msg;
485435
std::promise<void> * g_log_msgs_promise;
486436
TEST_F(TestEventsExecutor, test_default_incompatible_qos_callbacks)
487437
{
488-
// rmw_connextdds doesn't support events-executor
489-
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
490-
GTEST_SKIP();
491-
}
492-
493438
auto node = std::make_shared<rclcpp::Node>("node");
494439
rcutils_logging_output_handler_t original_output_handler = rcutils_logging_get_output_handler();
495440

‎rclcpp/test/rclcpp/executors/test_executors.cpp‎

Lines changed: 0 additions & 120 deletions
Original file line numberDiff line numberDiff line change
@@ -139,14 +139,6 @@ TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
139139
TYPED_TEST(TestExecutors, detachOnDestruction)
140140
{
141141
using ExecutorType = TypeParam;
142-
// rmw_connextdds doesn't support events-executor
143-
if (
144-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
145-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
146-
{
147-
GTEST_SKIP();
148-
}
149-
150142
{
151143
ExecutorType executor;
152144
executor.add_node(this->node);
@@ -163,14 +155,6 @@ TYPED_TEST(TestExecutors, detachOnDestruction)
163155
TYPED_TEST(TestExecutorsStable, addTemporaryNode)
164156
{
165157
using ExecutorType = TypeParam;
166-
// rmw_connextdds doesn't support events-executor
167-
if (
168-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
169-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
170-
{
171-
GTEST_SKIP();
172-
}
173-
174158
ExecutorType executor;
175159

176160
{
@@ -191,14 +175,6 @@ TYPED_TEST(TestExecutorsStable, addTemporaryNode)
191175
TYPED_TEST(TestExecutors, emptyExecutor)
192176
{
193177
using ExecutorType = TypeParam;
194-
// rmw_connextdds doesn't support events-executor
195-
if (
196-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
197-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
198-
{
199-
GTEST_SKIP();
200-
}
201-
202178
ExecutorType executor;
203179
std::thread spinner([&]() {EXPECT_NO_THROW(executor.spin());});
204180
std::this_thread::sleep_for(50ms);
@@ -210,14 +186,6 @@ TYPED_TEST(TestExecutors, emptyExecutor)
210186
TYPED_TEST(TestExecutors, addNodeTwoExecutors)
211187
{
212188
using ExecutorType = TypeParam;
213-
// rmw_connextdds doesn't support events-executor
214-
if (
215-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
216-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
217-
{
218-
GTEST_SKIP();
219-
}
220-
221189
ExecutorType executor1;
222190
ExecutorType executor2;
223191
EXPECT_NO_THROW(executor1.add_node(this->node));
@@ -229,14 +197,6 @@ TYPED_TEST(TestExecutors, addNodeTwoExecutors)
229197
TYPED_TEST(TestExecutors, spinWithTimer)
230198
{
231199
using ExecutorType = TypeParam;
232-
// rmw_connextdds doesn't support events-executor
233-
if (
234-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
235-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
236-
{
237-
GTEST_SKIP();
238-
}
239-
240200
ExecutorType executor;
241201

242202
bool timer_completed = false;
@@ -260,14 +220,6 @@ TYPED_TEST(TestExecutors, spinWithTimer)
260220
TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
261221
{
262222
using ExecutorType = TypeParam;
263-
// rmw_connextdds doesn't support events-executor
264-
if (
265-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
266-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
267-
{
268-
GTEST_SKIP();
269-
}
270-
271223
ExecutorType executor;
272224
executor.add_node(this->node);
273225

@@ -295,14 +247,6 @@ TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
295247
TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
296248
{
297249
using ExecutorType = TypeParam;
298-
// rmw_connextdds doesn't support events-executor
299-
if (
300-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
301-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
302-
{
303-
GTEST_SKIP();
304-
}
305-
306250
ExecutorType executor;
307251
executor.add_node(this->node);
308252

@@ -326,14 +270,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
326270
TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
327271
{
328272
using ExecutorType = TypeParam;
329-
// rmw_connextdds doesn't support events-executor
330-
if (
331-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
332-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
333-
{
334-
GTEST_SKIP();
335-
}
336-
337273
ExecutorType executor;
338274
executor.add_node(this->node);
339275

@@ -358,14 +294,6 @@ TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
358294
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
359295
{
360296
using ExecutorType = TypeParam;
361-
// rmw_connextdds doesn't support events-executor
362-
if (
363-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
364-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
365-
{
366-
GTEST_SKIP();
367-
}
368-
369297
ExecutorType executor;
370298
executor.add_node(this->node);
371299

@@ -413,14 +341,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
413341
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout)
414342
{
415343
using ExecutorType = TypeParam;
416-
// rmw_connextdds doesn't support events-executor
417-
if (
418-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
419-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
420-
{
421-
GTEST_SKIP();
422-
}
423-
424344
ExecutorType executor;
425345
executor.add_node(this->node);
426346

@@ -533,14 +453,6 @@ class TestWaitable : public rclcpp::Waitable
533453
TYPED_TEST(TestExecutors, spinAll)
534454
{
535455
using ExecutorType = TypeParam;
536-
// rmw_connextdds doesn't support events-executor
537-
if (
538-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
539-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
540-
{
541-
GTEST_SKIP();
542-
}
543-
544456
ExecutorType executor;
545457
auto waitable_interfaces = this->node->get_node_waitables_interface();
546458
auto my_waitable = std::make_shared<TestWaitable>();
@@ -583,14 +495,6 @@ TYPED_TEST(TestExecutors, spinAll)
583495
TYPED_TEST(TestExecutors, spinSome)
584496
{
585497
using ExecutorType = TypeParam;
586-
// rmw_connextdds doesn't support events-executor
587-
if (
588-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
589-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
590-
{
591-
GTEST_SKIP();
592-
}
593-
594498
ExecutorType executor;
595499
auto waitable_interfaces = this->node->get_node_waitables_interface();
596500
auto my_waitable = std::make_shared<TestWaitable>();
@@ -633,14 +537,6 @@ TYPED_TEST(TestExecutors, spinSome)
633537
TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
634538
{
635539
using ExecutorType = TypeParam;
636-
// rmw_connextdds doesn't support events-executor
637-
if (
638-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
639-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
640-
{
641-
GTEST_SKIP();
642-
}
643-
644540
ExecutorType executor;
645541

646542
std::promise<bool> promise;
@@ -657,14 +553,6 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
657553
TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
658554
{
659555
using ExecutorType = TypeParam;
660-
// rmw_connextdds doesn't support events-executor
661-
if (
662-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
663-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
664-
{
665-
GTEST_SKIP();
666-
}
667-
668556
ExecutorType executor;
669557

670558
std::promise<bool> promise;
@@ -681,14 +569,6 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
681569
TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted)
682570
{
683571
using ExecutorType = TypeParam;
684-
// rmw_connextdds doesn't support events-executor
685-
if (
686-
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
687-
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
688-
{
689-
GTEST_SKIP();
690-
}
691-
692572
ExecutorType executor;
693573
executor.add_node(this->node);
694574

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