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Replace std_msgs with test_msgs in executors test #1310

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Sep 11, 2020
Merged

Replace std_msgs with test_msgs in executors test #1310

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3 changes: 2 additions & 1 deletion rclcpp/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -498,7 +498,8 @@ ament_add_gtest(
TIMEOUT 180)
if(TARGET test_executors)
ament_target_dependencies(test_executors
"rcl")
"rcl"
"test_msgs")
target_link_libraries(test_executors ${PROJECT_NAME})
endif()

Expand Down
22 changes: 11 additions & 11 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
#include "rclcpp/duration.hpp"
#include "rclcpp/rclcpp.hpp"

#include "std_msgs/msg/empty.hpp"
#include "test_msgs/msg/empty.hpp"

using namespace std::chrono_literals;

Expand Down Expand Up @@ -61,10 +61,10 @@ class TestExecutors : public ::testing::Test
callback_count = 0;

const std::string topic_name = std::string("topic_") + test_name.str();
publisher = node->create_publisher<std_msgs::msg::Empty>(topic_name, rclcpp::QoS(10));
auto callback = [this](std_msgs::msg::Empty::SharedPtr) {this->callback_count++;};
publisher = node->create_publisher<test_msgs::msg::Empty>(topic_name, rclcpp::QoS(10));
auto callback = [this](test_msgs::msg::Empty::SharedPtr) {this->callback_count++;};
subscription =
node->create_subscription<std_msgs::msg::Empty>(
node->create_subscription<test_msgs::msg::Empty>(
topic_name, rclcpp::QoS(10), std::move(callback));
}

Expand All @@ -76,8 +76,8 @@ class TestExecutors : public ::testing::Test
}

rclcpp::Node::SharedPtr node;
rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr publisher;
rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr subscription;
rclcpp::Publisher<test_msgs::msg::Empty>::SharedPtr publisher;
rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr subscription;
int callback_count;
};

Expand Down Expand Up @@ -293,7 +293,7 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout) {

// Do some work for longer than the future needs.
for (int i = 0; i < 100; ++i) {
this->publisher->publish(std_msgs::msg::Empty());
this->publisher->publish(test_msgs::msg::Empty());
std::this_thread::sleep_for(1ms);
if (spin_exited) {
break;
Expand Down Expand Up @@ -338,7 +338,7 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout) {

// Do some work for longer than timeout needs.
for (int i = 0; i < 100; ++i) {
this->publisher->publish(std_msgs::msg::Empty());
this->publisher->publish(test_msgs::msg::Empty());
std::this_thread::sleep_for(1ms);
if (spin_exited) {
break;
Expand Down Expand Up @@ -376,7 +376,7 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted) {
});

// Do some minimal work
this->publisher->publish(std_msgs::msg::Empty());
this->publisher->publish(test_msgs::msg::Empty());
std::this_thread::sleep_for(1ms);

// Force interruption
Expand Down Expand Up @@ -473,7 +473,7 @@ TYPED_TEST(TestExecutorsStable, spinAll) {
!spin_exited &&
(std::chrono::steady_clock::now() - start < 1s))
{
this->publisher->publish(std_msgs::msg::Empty());
this->publisher->publish(test_msgs::msg::Empty());
std::this_thread::sleep_for(1ms);
}

Expand Down Expand Up @@ -514,7 +514,7 @@ TYPED_TEST(TestExecutorsStable, spinSome) {
!spin_exited &&
(std::chrono::steady_clock::now() - start < 1s))
{
this->publisher->publish(std_msgs::msg::Empty());
this->publisher->publish(test_msgs::msg::Empty());
std::this_thread::sleep_for(1ms);
}

Expand Down