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Add service/client construction/destruction API test coverage. (#138)
Signed-off-by: Michel Hidalgo <[email protected]>
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‎test_rmw_implementation/CMakeLists.txt‎

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@@ -129,6 +129,26 @@ if(BUILD_TESTING)
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ament_target_dependencies(test_unique_identifiers${target_suffix}
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osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
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)
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ament_add_gtest(test_service${target_suffix}
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test/test_service.cpp
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ENV ${rmw_implementation_env_var}
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)
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target_compile_definitions(test_service${target_suffix}
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PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
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ament_target_dependencies(test_service${target_suffix}
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osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
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)
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ament_add_gtest(test_client${target_suffix}
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test/test_client.cpp
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ENV ${rmw_implementation_env_var}
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)
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target_compile_definitions(test_client${target_suffix}
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PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
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ament_target_dependencies(test_client${target_suffix}
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osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
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)
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endmacro()
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call_for_each_rmw_implementation(test_api)

‎test_rmw_implementation/test/test_client.cpp‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "rcutils/allocator.h"
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#include "rcutils/strdup.h"
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#include "rmw/rmw.h"
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#include "rmw/error_handling.h"
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#include "test_msgs/srv/basic_types.h"
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#include "./config.hpp"
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#include "./testing_macros.hpp"
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#ifdef RMW_IMPLEMENTATION
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# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
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# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
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#else
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# define CLASSNAME(NAME, SUFFIX) NAME
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#endif
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class CLASSNAME (TestClient, RMW_IMPLEMENTATION) : public ::testing::Test
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{
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protected:
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void SetUp() override
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{
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rmw_init_options_t init_options = rmw_get_zero_initialized_init_options();
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rmw_ret_t ret = rmw_init_options_init(&init_options, rcutils_get_default_allocator());
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ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rmw_ret_t ret = rmw_init_options_fini(&init_options);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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});
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init_options.enclave = rcutils_strdup("/", rcutils_get_default_allocator());
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ASSERT_STREQ("/", init_options.enclave);
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ret = rmw_init(&init_options, &context);
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ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
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constexpr char node_name[] = "my_test_node";
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constexpr char node_namespace[] = "/my_test_ns";
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node = rmw_create_node(&context, node_name, node_namespace);
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ASSERT_NE(nullptr, node) << rcutils_get_error_string().str;
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}
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void TearDown() override
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{
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rmw_ret_t ret = rmw_destroy_node(node);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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ret = rmw_shutdown(&context);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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ret = rmw_context_fini(&context);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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}
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rmw_context_t context{rmw_get_zero_initialized_context()};
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rmw_node_t * node{nullptr};
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};
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TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy) {
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
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ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
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rmw_client_t * client =
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rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
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rmw_ret_t ret = rmw_destroy_client(node, client);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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}
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TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy_native) {
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
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ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
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rmw_qos_profile_t native_qos_profile = rmw_qos_profile_default;
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native_qos_profile.avoid_ros_namespace_conventions = true;
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rmw_client_t * client =
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rmw_create_client(node, ts, service_name, &native_qos_profile);
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ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
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rmw_ret_t ret = rmw_destroy_client(node, client);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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}
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TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_with_bad_arguments) {
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
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ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
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rmw_client_t * client =
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rmw_create_client(nullptr, ts, service_name, &rmw_qos_profile_default);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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client = rmw_create_client(node, nullptr, service_name, &rmw_qos_profile_default);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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const char * implementation_identifier = node->implementation_identifier;
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node->implementation_identifier = "not-an-rmw-implementation-identifier";
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client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
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node->implementation_identifier = implementation_identifier;
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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client = rmw_create_client(node, ts, nullptr, &rmw_qos_profile_default);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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client = rmw_create_client(node, ts, "", &rmw_qos_profile_default);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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constexpr char service_name_with_spaces[] = "/foo bar";
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client = rmw_create_client(node, ts, service_name_with_spaces, &rmw_qos_profile_default);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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constexpr char relative_service_name[] = "foo";
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client = rmw_create_client(node, ts, relative_service_name, &rmw_qos_profile_default);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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client = rmw_create_client(node, ts, service_name, nullptr);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_unknown);
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EXPECT_EQ(nullptr, client);
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rmw_reset_error();
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// Creating and destroying a client still succeeds.
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client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
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rmw_ret_t ret = rmw_destroy_client(node, client);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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}
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class CLASSNAME (TestClientUse, RMW_IMPLEMENTATION)
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: public CLASSNAME(TestClient, RMW_IMPLEMENTATION)
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{
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protected:
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using Base = CLASSNAME(TestClient, RMW_IMPLEMENTATION);
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void SetUp() override
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{
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Base::SetUp();
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
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ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
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client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
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}
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void TearDown() override
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{
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rmw_ret_t ret = rmw_destroy_client(node, client);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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Base::TearDown();
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}
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rmw_client_t * client{nullptr};
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};
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TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_null_node) {
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rmw_ret_t ret = rmw_destroy_client(nullptr, client);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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}
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TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_null_client) {
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rmw_ret_t ret = rmw_destroy_client(node, nullptr);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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}
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TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_node_of_another_impl) {
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const char * implementation_identifier = node->implementation_identifier;
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node->implementation_identifier = "not-an-rmw-implementation-identifier";
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rmw_ret_t ret = rmw_destroy_client(node, client);
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node->implementation_identifier = implementation_identifier;
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EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
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rmw_reset_error();
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}
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TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_client_of_another_impl) {
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const char * implementation_identifier = client->implementation_identifier;
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client->implementation_identifier = "not-an-rmw-implementation-identifier";
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rmw_ret_t ret = rmw_destroy_client(node, client);
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client->implementation_identifier = implementation_identifier;
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EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
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rmw_reset_error();
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}

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