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Remove fastrtps customization on test_events #960

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Feb 22, 2022
Merged

Remove fastrtps customization on test_events #960

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43 changes: 4 additions & 39 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,8 +66,6 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION)
public:
void SetUp()
{
is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);

rcl_ret_t ret;
{
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
Expand Down Expand Up @@ -237,7 +235,6 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION)
rcl_event_t publisher_event;
rcl_subscription_t subscription;
rcl_event_t subscription_event;
bool is_fastrtps;
const char * topic = "rcl_test_publisher_subscription_events";
const rosidl_message_type_support_t * ts;
};
Expand Down Expand Up @@ -616,33 +613,9 @@ TEST_P(TestEventFixture, test_pubsub_incompatible_qos)
const auto & error_msg = input.error_msg;

setup_publisher_subscriber(publisher_qos_profile, subscription_qos_profile);
if (is_fastrtps) {
rcl_ret_t ret;

// init publisher events
publisher_event = rcl_get_zero_initialized_event();
ret = rcl_publisher_event_init(
&publisher_event,
&publisher,
RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
EXPECT_EQ(ret, RCL_RET_UNSUPPORTED);

// init subscription event
subscription_event = rcl_get_zero_initialized_event();
ret = rcl_subscription_event_init(
&subscription_event,
&subscription,
RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
EXPECT_EQ(ret, RCL_RET_UNSUPPORTED);

// clean up and exit test early
tear_down_publisher_subscriber();
return;
} else {
setup_publisher_subscriber_events(
RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
}
setup_publisher_subscriber_events(
RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);

WaitConditionPredicate events_ready = [](
const bool & /*msg_persist_ready*/,
Expand Down Expand Up @@ -802,15 +775,7 @@ TEST_F(TestEventFixture, test_sub_message_lost_event)
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
});

if (is_fastrtps) {
// Check not supported
EXPECT_EQ(ret, RCL_RET_UNSUPPORTED);

// clean up and exit test early
return;
} else {
EXPECT_EQ(ret, RCL_RET_OK);
}
EXPECT_EQ(ret, RCL_RET_OK);

// Can't reproduce reliably this event
// Test that take_event is able to read the configured event
Expand Down