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Test that nodes are returned with correct multiplicity #598

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Mar 13, 2020
Merged

Test that nodes are returned with correct multiplicity #598

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11 changes: 10 additions & 1 deletion rcl/test/rcl/test_get_node_names.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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<std::pair<std::string, std::string>> expected_nodes, discovered_nodes;
std::multiset<std::pair<std::string, std::string>> expected_nodes, discovered_nodes;

auto node1_ptr = new rcl_node_t;
*node1_ptr = rcl_get_zero_initialized_node();
Expand Down Expand Up @@ -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();
Expand Down