Remove unncecessary dependencies in tests (#1114)

* Remove unncecessary dependencies in tests * Build service_fixture and client_fixture only once * Only rebuild tests for each RMW implementation if necessary * Remove unnecessary RMW_IMPLEMENTATION code. Since we are just using the environment variables to test now, we don't need all of this superfluous infrastructure for generating different RMW implementations. Signed-off-by: Christopher Wecht <cwecht@mailbox.org> Signed-off-by: Chris Lalancette <clalancette@gmail.com>
ros2 · Nov 16, 2023 · cc0cd52 · cc0cd52
1 parent f7efa0b
commit cc0cd52
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Showing 24 changed files with 442 additions and 748 deletions.
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
diff --git a/rcl/test/cmake/rcl_add_custom_launch_test.cmake b/rcl/test/cmake/rcl_add_custom_launch_test.cmake
@@ -21,9 +21,9 @@ set(rcl_add_custom_launch_test_INCLUDED TRUE)
 
 macro(rcl_add_custom_launch_test test_name executable1 executable2)
   set(TEST_NAME "${test_name}")
-  set(TEST_EXECUTABLE1 "$<TARGET_FILE:${executable1}${target_suffix}>")
+  set(TEST_EXECUTABLE1 "$<TARGET_FILE:${executable1}>")
   set(TEST_EXECUTABLE1_NAME "${executable1}")
-  set(TEST_EXECUTABLE2 "$<TARGET_FILE:${executable2}${target_suffix}>")
+  set(TEST_EXECUTABLE2 "$<TARGET_FILE:${executable2}>")
   set(TEST_EXECUTABLE2_NAME "${executable2}")
   configure_file(
     rcl/test_two_executables.py.in
@@ -40,6 +40,6 @@ macro(rcl_add_custom_launch_test test_name executable1 executable2)
     ${ARGN}
   )
   if(TEST ${test_name}${target_suffix})
-    set_tests_properties(${test_name}${target_suffix} PROPERTIES DEPENDS "${executable1}${target_suffix} ${executable2}${target_suffix}")
+    set_tests_properties(${test_name}${target_suffix} PROPERTIES DEPENDS "${executable1} ${executable2}")
   endif()
 endmacro()
diff --git a/rcl/test/rcl/test_context.cpp b/rcl/test/rcl/test_context.cpp
@@ -24,18 +24,9 @@
 
 #include "../mocking_utils/patch.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 (TestContextFixture, RMW_IMPLEMENTATION) : public ::testing::Test {};
-
 // Test the rcl_context_t's normal function.
 // Note: that init/fini are tested in test_init.cpp.
-TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
+TEST(TestContext, nominal) {
   osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest scoped_quickstart_gtest;
 
   // This prevents memory allocations when setting error states in the future.
@@ -151,7 +142,7 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), bad_fini) {
+TEST(TestContext, bad_fini) {
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_context_fini(nullptr));
   rcl_reset_error();
 

diff --git a/rcl/test/rcl/test_count_matched.cpp b/rcl/test/rcl/test_count_matched.cpp
@@ -28,13 +28,6 @@
 
 #include "rcl/error_handling.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 void check_state(
   rcl_wait_set_t * wait_set_ptr,
   rcl_publisher_t * publisher,
@@ -96,7 +89,7 @@ void check_state(
   EXPECT_EQ(expected_subscriber_count, subscriber_count);
 }
 
-class CLASSNAME (TestCountFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestCountFixture : public ::testing::Test
 {
 public:
   rcl_node_t * node_ptr;
@@ -150,7 +143,7 @@ class CLASSNAME (TestCountFixture, RMW_IMPLEMENTATION) : public ::testing::Test
   }
 };
 
-TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_functions) {
+TEST_F(TestCountFixture, test_count_matched_functions) {
   std::string topic_name("/test_count_matched_functions__");
   rcl_ret_t ret;
 
@@ -199,9 +192,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_funct
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
-  test_count_matched_functions_mismatched_qos) {
+TEST_F(TestCountFixture, test_count_matched_functions_mismatched_qos) {
   std::string topic_name("/test_count_matched_functions_mismatched_qos__");
   rcl_ret_t ret;
 

diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
@@ -43,13 +43,6 @@ constexpr seconds LIVELINESS_LEASE_DURATION_IN_S = 1s;
 constexpr seconds DEADLINE_PERIOD_IN_S = 2s;
 constexpr seconds MAX_WAIT_PER_TESTCASE = 10s;
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 #define EXPECT_OK(varname) EXPECT_EQ(varname, RCL_RET_OK) << rcl_get_error_string().str
 
 struct TestIncompatibleQosEventParams
@@ -61,8 +54,7 @@ struct TestIncompatibleQosEventParams
   std::string error_msg;
 };
 
-class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION)
-  : public ::testing::TestWithParam<TestIncompatibleQosEventParams>
+class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEventParams>
 {
 public:
   void SetUp()
@@ -240,8 +232,6 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION)
   const rosidl_message_type_support_t * ts;
 };
 
-using TestEventFixture = CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION);
-
 const rmw_qos_profile_t TestEventFixture::default_qos_profile = {
   RMW_QOS_POLICY_HISTORY_KEEP_LAST,             // history
   0,                                            // depth

diff --git a/rcl/test/rcl/test_get_actual_qos.cpp b/rcl/test/rcl/test_get_actual_qos.cpp
@@ -28,28 +28,6 @@
 #include "test_msgs/msg/basic_types.h"
 #include "test_msgs/srv/basic_types.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-# define RMW_IMPLEMENTATION_STR RCUTILS_STRINGIFY(RMW_IMPLEMENTATION)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-#define EXPAND(x) x
-#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME( \
-    test_fixture_name, RMW_IMPLEMENTATION)
-#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
-#define TEST_P_RMW(test_case_name, test_name) \
-  APPLY( \
-    TEST_P, \
-    CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
-#define INSTANTIATE_TEST_SUITE_P_RMW(instance_name, test_case_name, ...) \
-  EXPAND( \
-    APPLY( \
-      INSTANTIATE_TEST_SUITE_P, instance_name, \
-      CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
-
 /**
  * Parameterized test.
  * The first param are the NodeOptions used to create the nodes.
@@ -98,8 +76,7 @@ std::ostream & operator<<(
   return out;
 }
 
-class TEST_FIXTURE_P_RMW (TestGetActualQoS)
-  : public ::testing::TestWithParam<TestParameters>
+class TestGetActualQoS : public ::testing::TestWithParam<TestParameters>
 {
 public:
   void SetUp() override
@@ -147,10 +124,9 @@ class TEST_FIXTURE_P_RMW (TestGetActualQoS)
 };
 
 
-class TEST_FIXTURE_P_RMW (TestPublisherGetActualQoS)
-  : public TEST_FIXTURE_P_RMW(TestGetActualQoS) {};
+class TestPublisherGetActualQoS : public TestGetActualQoS {};
 
-TEST_P_RMW(TestPublisherGetActualQoS, test_publisher_get_qos_settings)
+TEST_P(TestPublisherGetActualQoS, test_publisher_get_qos_settings)
 {
   TestParameters parameters = GetParam();
   std::string topic_name("/test_publisher_get_actual_qos__");
@@ -202,10 +178,9 @@ TEST_P_RMW(TestPublisherGetActualQoS, test_publisher_get_qos_settings)
 }
 
 
-class TEST_FIXTURE_P_RMW (TestSubscriptionGetActualQoS)
-  : public TEST_FIXTURE_P_RMW(TestGetActualQoS) {};
+class TestSubscriptionGetActualQoS : public TestGetActualQoS {};
 
-TEST_P_RMW(TestSubscriptionGetActualQoS, test_subscription_get_qos_settings)
+TEST_P(TestSubscriptionGetActualQoS, test_subscription_get_qos_settings)
 {
   TestParameters parameters = GetParam();
   std::string topic_name("/test_subscription_get_qos_settings");
@@ -396,8 +371,7 @@ get_parameters(bool for_publisher)
     "default_qos"
   });
 
-#ifdef RMW_IMPLEMENTATION_STR
-  std::string rmw_implementation_str = RMW_IMPLEMENTATION_STR;
+  std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());
   if (rmw_implementation_str == "rmw_fastrtps_cpp" ||
     rmw_implementation_str == "rmw_fastrtps_dynamic_cpp")
   {
@@ -464,18 +438,17 @@ get_parameters(bool for_publisher)
       }
     }
   }
-#endif
 
   return parameters;
 }
 
-INSTANTIATE_TEST_SUITE_P_RMW(
+INSTANTIATE_TEST_SUITE_P(
   TestPublisherWithDifferentQoSSettings,
   TestPublisherGetActualQoS,
   ::testing::ValuesIn(get_parameters(true)),
   ::testing::PrintToStringParamName());
 
-INSTANTIATE_TEST_SUITE_P_RMW(
+INSTANTIATE_TEST_SUITE_P(
   TestSubscriptionWithDifferentQoSSettings,
   TestSubscriptionGetActualQoS,
   ::testing::ValuesIn(get_parameters(false)),

diff --git a/rcl/test/rcl/test_get_node_names.cpp b/rcl/test/rcl/test_get_node_names.cpp
@@ -32,16 +32,9 @@
 
 #include "rcl/error_handling.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using namespace std::chrono_literals;
 
-class CLASSNAME (TestGetNodeNames, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestGetNodeNames : public ::testing::Test
 {
 public:
   void SetUp()
@@ -51,7 +44,7 @@ class CLASSNAME (TestGetNodeNames, RMW_IMPLEMENTATION) : public ::testing::Test
   {}
 };
 
-TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names) {
+TEST_F(TestGetNodeNames, test_rcl_get_node_names) {
   rcl_ret_t ret;
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
@@ -164,8 +157,7 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(
-  CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names_with_enclave)
+TEST_F(TestGetNodeNames, test_rcl_get_node_names_with_enclave)
 {
   rcl_ret_t ret;
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();

diff --git a/rcl/test/rcl/test_get_type_description_service.cpp b/rcl/test/rcl/test_get_type_description_service.cpp
@@ -31,13 +31,6 @@
 #include "node_impl.h"  // NOLINT
 #include "wait_for_entity_helpers.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 constexpr char GET_TYPE_DESCRIPTION_SRV_TYPE_NAME[] =
   "type_description_interfaces/srv/GetTypeDescription";
 
@@ -140,7 +133,7 @@ static bool service_not_exists(
   return false;
 }
 
-class CLASSNAME (TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestGetTypeDescSrvFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -190,9 +183,7 @@ class CLASSNAME (TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION) : public ::testi
 
 
 /* Test init and fini functions. */
-TEST_F(
-  CLASSNAME(TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION),
-  test_service_init_and_fini_functions) {
+TEST_F(TestGetTypeDescSrvFixture, test_service_init_and_fini_functions) {
   rcl_service_t service = rcl_get_zero_initialized_service();
 
   // Service does not initially exist
@@ -220,7 +211,7 @@ TEST_F(
 }
 
 /* Basic nominal test of the ~/get_type_description service. */
-TEST_F(CLASSNAME(TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION), test_service_nominal) {
+TEST_F(TestGetTypeDescSrvFixture, test_service_nominal) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     type_description_interfaces, srv, GetTypeDescription);
@@ -317,10 +308,7 @@ TEST_F(CLASSNAME(TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION), test_service_no
 }
 
 /* Test calling ~/get_type_description service with invalid hash. */
-TEST_F(
-  CLASSNAME(
-    TestGetTypeDescSrvFixture,
-    RMW_IMPLEMENTATION), test_service_invalid_hash) {
+TEST_F(TestGetTypeDescSrvFixture, test_service_invalid_hash) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     type_description_interfaces, srv, GetTypeDescription);