From 88578ab16b6cbdc6c286702c2e5f15548a8fa57f Mon Sep 17 00:00:00 2001 From: Dan Rose Date: Thu, 12 Mar 2020 13:54:10 -0500 Subject: [PATCH] Test that nodes are returned with correct multiplicity Signed-off-by: Dan Rose --- rcl/test/rcl/test_get_node_names.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/rcl/test/rcl/test_get_node_names.cpp b/rcl/test/rcl/test_get_node_names.cpp index 9ea080f2f..fd4baf691 100644 --- a/rcl/test/rcl/test_get_node_names.cpp +++ b/rcl/test/rcl/test_get_node_names.cpp @@ -67,7 +67,7 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names) EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str; }); - std::set> expected_nodes, discovered_nodes; + std::multiset> expected_nodes, discovered_nodes; auto node1_ptr = new rcl_node_t; *node1_ptr = rcl_get_zero_initialized_node(); @@ -105,6 +105,15 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names) ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; expected_nodes.insert(std::make_pair(std::string(node4_name), std::string(node4_namespace))); + auto node5_ptr = new rcl_node_t; + *node5_ptr = rcl_get_zero_initialized_node(); + const char * node5_name = "node1"; + const char * node5_namespace = "/"; + rcl_node_options_t node5_options = rcl_node_get_default_options(); + ret = rcl_node_init(node5_ptr, node5_name, node5_namespace, &context, &node5_options); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + expected_nodes.insert(std::make_pair(std::string(node5_name), std::string(node5_namespace))); + std::this_thread::sleep_for(1s); rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();