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Add test for subscription message lost event #705

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Merged
merged 7 commits into from
Jul 22, 2020
Merged

Add test for subscription message lost event #705

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e90d2cd
Add test subscriber lost_event
Blast545 Jul 1, 2020
7049acd
Fix lint warning
Blast545 Jul 16, 2020
30cc49b
Remove test wait for lost event
Blast545 Jul 17, 2020
a93d662
Check for fastrtps as unsupported
Blast545 Jul 20, 2020
6de0b1c
Add check for event count returned
Blast545 Jul 20, 2020
21c5577
Reformat to delete extra code
Blast545 Jul 21, 2020
87e7df7
Fix linter spacing
Blast545 Jul 21, 2020
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42 changes: 42 additions & 0 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -773,6 +773,48 @@ TEST_F(TestEventFixture, test_event_is_valid)
tear_down_publisher_subscriber();
}

/*
* Basic test subscriber event message lost
*/
TEST_F(TestEventFixture, test_sub_message_lost_event)
{
const rmw_qos_profile_t subscription_qos_profile = default_qos_profile;

rcl_ret_t ret = setup_subscriber(subscription_qos_profile);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

subscription_event = rcl_get_zero_initialized_event();
ret = rcl_subscription_event_init(
&subscription_event,
&subscription,
RCL_SUBSCRIPTION_MESSAGE_LOST);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
ret = rcl_event_fini(&subscription_event);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
});

if (is_fastrtps) {
// Check not supported
EXPECT_EQ(ret, RCL_RET_UNSUPPORTED);

// clean up and exit test early
return;
} else {
EXPECT_EQ(ret, RCL_RET_OK);
}

// Can't reproduce reliably this event
// Test that take_event is able to read the configured event
rmw_message_lost_status_t message_lost_status;
ret = rcl_take_event(&subscription_event, &message_lost_status);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(message_lost_status.total_count, 0u);
EXPECT_EQ(message_lost_status.total_count_change, 0u);
}

static
std::array<TestIncompatibleQosEventParams, 5>
get_test_pubsub_incompatible_qos_inputs()
Expand Down