Add test_rmw_implementation package.

test_rmw_implementation/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(test_rmw_implementation)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(osrf_testing_tools_cpp REQUIRED)
+
+  find_package(rcutils REQUIRED)
+  find_package(rmw REQUIRED)
+  find_package(rmw_implementation REQUIRED)
+  find_package(rmw_implementation_cmake REQUIRED)
+
+  macro(test_api)
+    find_package(${rmw_implementation} REQUIRED)
+    message(STATUS "Creating API tests for '${rmw_implementation}'")
+    set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+
+    ament_add_gtest(test_init_shutdown${target_suffix}
+      test/test_init_shutdown.cpp
+      ENV ${rmw_implementation_env_var}
+    )
+    target_compile_definitions(test_init_shutdown${target_suffix}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    ament_target_dependencies(test_init_shutdown${target_suffix}
+      osrf_testing_tools_cpp rcutils rmw rmw_implementation
+    )
+  endmacro()
+
+  call_for_each_rmw_implementation(test_api)
+
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

test_rmw_implementation/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>test_rmw_implementation</name>
+  <version>0.1.0</version>
+  <description>Test suite for ROS middleware API.</description>
+  <maintainer email="[email protected]">Michel Hidalgo</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rmw_implementation_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
+  <test_depend>rcutils</test_depend>
+  <test_depend>rmw</test_depend>
+  <test_depend>rmw_implementation</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

test_rmw_implementation/test/test_init_shutdown.cpp

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+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "rcutils/allocator.h"
+#include "rcutils/error_handling.h"
+
+#include "rmw/rmw.h"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+class CLASSNAME (TestInitShutdown, RMW_IMPLEMENTATION) : public ::testing::Test {};
+
+TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_shutdown) {
+  rmw_context_t context = rmw_get_zero_initialized_context();
+  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+  rmw_ret_t ret = rmw_init_options_init(&options, rcutils_get_default_allocator());
+  ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rmw_ret_t ret = rmw_init_options_fini(&options);
+    EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  });
+
+  ret = rmw_init(&options, &context);
+  ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rmw_ret_t ret = rmw_context_fini(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  });
+
+  ret = rmw_shutdown(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+}