Revert "Fix Typesupport Introspection tests (#133)"

This reverts commit 0ea986b. Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
ros2 · Mar 26, 2023 · 5c2e805 · 5c2e805
1 parent 4a40757
commit 5c2e805
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Showing 4 changed files with 14 additions and 67 deletions.
diff --git a/rosidl_typesupport_tests/CMakeLists.txt b/rosidl_typesupport_tests/CMakeLists.txt
@@ -12,16 +12,13 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
-  find_package(rcutils REQUIRED)
-  find_package(rmw REQUIRED)
-  find_package(rmw_implementation REQUIRED)
+  ament_lint_auto_find_test_dependencies()
   find_package(rosidl_cmake REQUIRED)
-  find_package(rosidl_generator_cpp REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
   find_package(test_interface_files REQUIRED)
-
-  ament_lint_auto_find_test_dependencies()
+  find_package(rcutils REQUIRED)
+  find_package(rosidl_generator_cpp REQUIRED)
 
   rosidl_generate_interfaces(${PROJECT_NAME}
     ${test_interface_files_MSG_FILES}
@@ -38,17 +35,13 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_service_typesupport_cpp
     "${cpp_typesupport_target}"
-    rmw::rmw
-    rmw_implementation::rmw_implementation
   )
 
   ament_add_gtest(test_service_typesupport_c
     test/rosidl_typesupport_c/test_service_typesupport.cpp
   )
   target_link_libraries(test_service_typesupport_c
     "${c_typesupport_target}"
-    rmw::rmw
-    rmw_implementation::rmw_implementation
   )
 endif()
 

diff --git a/rosidl_typesupport_tests/package.xml b/rosidl_typesupport_tests/package.xml
@@ -10,19 +10,17 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>action_msgs</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>rcutils</test_depend>
-  <test_depend>rmw</test_depend>
-  <test_depend>rmw_implementation</test_depend>
   <test_depend>rosidl_cmake</test_depend>
   <test_depend>rosidl_generator_cpp</test_depend>
   <test_depend>rosidl_typesupport_c</test_depend>
   <test_depend>rosidl_typesupport_cpp</test_depend>
-  <test_depend>service_msgs</test_depend>
   <test_depend>test_interface_files</test_depend>
+  <test_depend>service_msgs</test_depend>
+  <test_depend>action_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/rosidl_typesupport_tests/test/rosidl_typesupport_c/test_service_typesupport.cpp b/rosidl_typesupport_tests/test/rosidl_typesupport_c/test_service_typesupport.cpp
@@ -14,20 +14,16 @@
 
 #include <algorithm>
 #include <array>
-#include <string>
 
 #include "gtest/gtest.h"
 
 #include "rcutils/allocator.h"
-#include "rcutils/env.h"
 
 #include "rosidl_runtime_c/string_functions.h"
 
 #include "rosidl_typesupport_tests/action/fibonacci.h"
 #include "rosidl_typesupport_tests/srv/basic_types.h"
 
-#include "rmw/rmw.h"
-
 TEST(test_service_typesupport, event_message_create_and_destroy_invalid_arguments)
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
@@ -55,17 +51,8 @@ TEST(test_service_typesupport, basic_types_event_message_create)
   const rosidl_message_type_support_t * msg_ts =
     rosidl_typesupport_c__get_message_type_support_handle__rosidl_typesupport_tests__srv__BasicTypes_Event();  // NOLINT
 
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
-    EXPECT_STREQ(
-      srv_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_c");
-    EXPECT_STREQ(
-      msg_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_c");
-  } else {
-    EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_c");
-    EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_c");
-  }
+  EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_c");
+  EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_c");
 
   EXPECT_EQ(srv_ts->event_typesupport, msg_ts);
 
@@ -190,16 +177,6 @@ TEST(test_service_typesupport, fibonacci_action_services_event)
     rosidl_typesupport_c__get_message_type_support_handle__rosidl_typesupport_tests__action__Fibonacci_GetResult_Event();  // NOLINT
   ASSERT_NE(nullptr, send_goal_event_msg_ts);
   ASSERT_NE(nullptr, get_result_event_msg_ts);
-
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
-    EXPECT_STREQ(
-      send_goal_event_msg_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_c");
-    EXPECT_STREQ(
-      get_result_event_msg_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_c");
-  } else {
-    EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
-    EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
-  }
+  EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
+  EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
 }
diff --git a/rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp b/rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp
@@ -15,7 +15,6 @@
 #include <algorithm>
 #include <array>
 #include <stdexcept>
-#include <string>
 
 #include "gtest/gtest.h"
 
@@ -27,8 +26,6 @@
 #include "rosidl_typesupport_tests/action/fibonacci.hpp"
 #include "rosidl_typesupport_tests/srv/basic_types.hpp"
 
-#include "rmw/rmw.h"
-
 TEST(test_service_typesupport, event_message_create_and_destroy_invalid_arguments)
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
@@ -60,17 +57,8 @@ TEST(test_service_typesupport, basic_types_event_message_create)
   const rosidl_message_type_support_t * msg_ts =
     rosidl_typesupport_cpp::get_message_type_support_handle<rosidl_typesupport_tests::srv::BasicTypes_Event>();  // NOLINT
 
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
-    EXPECT_STREQ(
-      srv_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_cpp");
-    EXPECT_STREQ(
-      msg_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_cpp");
-  } else {
-    EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_cpp");
-    EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
-  }
+  EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+  EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
 
   // typesupports are static so this comparison *should* be valid?
   EXPECT_EQ(srv_ts->event_typesupport, msg_ts);
@@ -193,15 +181,6 @@ TEST(test_service_typesupport, fibonacci_action_services_event)
     rosidl_typesupport_tests::action::Fibonacci_GetResult::Event>();
   ASSERT_NE(nullptr, send_goal_event_msg_ts);
   ASSERT_NE(nullptr, get_result_event_msg_ts);
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
-    EXPECT_STREQ(
-      send_goal_event_msg_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_cpp");
-    EXPECT_STREQ(
-      get_result_event_msg_ts->typesupport_identifier,
-      "rosidl_typesupport_introspection_cpp");
-  } else {
-    EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
-    EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
-  }
+  EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+  EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
 }