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refactor test
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Signed-off-by: Chen Lihui <[email protected]>
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Chen Lihui committed Jan 13, 2022
1 parent a9b226b commit 8760e77
Showing 1 changed file with 15 additions and 49 deletions.
64 changes: 15 additions & 49 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -855,11 +855,6 @@ TEST_F(
CLASSNAME(
TestSubscriptionFixture,
RMW_IMPLEMENTATION), test_subscription_content_filtered) {
bool is_vendor_support_cft =
(std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0
// || std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0
);

const char * filter_expression1 = "string_value MATCH 'FilteredData'";
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
Expand Down Expand Up @@ -890,11 +885,7 @@ TEST_F(
rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
if (is_vendor_support_cft) {
ASSERT_TRUE(rcl_subscription_is_cft_enabled(&subscription));
} else {
ASSERT_FALSE(rcl_subscription_is_cft_enabled(&subscription));
}
bool is_cft_support = rcl_subscription_is_cft_enabled(&subscription);
ASSERT_TRUE(wait_for_established_subscription(&publisher, 30, 100));

// publish with a non-filtered data
Expand All @@ -908,7 +899,7 @@ TEST_F(
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

if (is_vendor_support_cft) {
if (is_cft_support) {
ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 30, 100));
} else {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 30, 100));
Expand Down Expand Up @@ -969,7 +960,7 @@ TEST_F(

ret = rcl_subscription_set_content_filter(
&subscription, &options);
if (is_vendor_support_cft) {
if (is_cft_support) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} else {
ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
Expand All @@ -992,7 +983,7 @@ TEST_F(
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

if (is_vendor_support_cft) {
if (is_cft_support) {
ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 30, 100));
} else {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 30, 100));
Expand Down Expand Up @@ -1043,7 +1034,7 @@ TEST_F(

ret = rcl_subscription_get_content_filter(
&subscription, &content_filter_options);
if (is_vendor_support_cft) {
if (is_cft_support) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rmw_subscription_content_filter_options_t * options =
Expand Down Expand Up @@ -1081,7 +1072,7 @@ TEST_F(

ret = rcl_subscription_set_content_filter(
&subscription, &options);
if (is_vendor_support_cft) {
if (is_cft_support) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_TRUE(wait_for_established_subscription(&publisher, 30, 100));
ASSERT_FALSE(rcl_subscription_is_cft_enabled(&subscription));
Expand Down Expand Up @@ -1117,26 +1108,9 @@ TEST_F(
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// it might take 'FilteredData' again, if so, contine to take data
std::string data = std::string(msg.string_value.data, msg.string_value.size);
if (is_vendor_support_cft) {
const int try_total_num = 3;
int i = 0;
while (data != test_string && i++ < try_total_num) {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 30, 100));
test_msgs__msg__Strings msg;
test_msgs__msg__Strings__init(&msg);
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__Strings__fini(&msg);
});
ret = rcl_take(&subscription, &msg, nullptr, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
data = std::string(msg.string_value.data, msg.string_value.size);
}
}
ASSERT_EQ(std::string(test_string), data);
ASSERT_EQ(
std::string(test_string),
std::string(msg.string_value.data, msg.string_value.size));
}
}

Expand All @@ -1145,11 +1119,6 @@ TEST_F(
TEST_F(
CLASSNAME(
TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_not_content_filtered_at_begin) {
bool is_vendor_support_cft =
(std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0
// || std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0
);

rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
Expand Down Expand Up @@ -1182,11 +1151,7 @@ TEST_F(

ret = rcl_subscription_get_content_filter(
&subscription, &content_filter_options);
if (is_vendor_support_cft) {
ASSERT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
} else {
ASSERT_EQ(RCL_RET_UNSUPPORTED, ret) << rcl_get_error_string().str;
}
ASSERT_NE(RCL_RET_OK, ret);
}

ASSERT_TRUE(wait_for_established_subscription(&publisher, 30, 100));
Expand Down Expand Up @@ -1222,6 +1187,7 @@ TEST_F(
const char * filter_expression2 = "string_value MATCH %0";
const char * expression_parameters2[] = {"'FilteredData'"};
size_t expression_parameters2_count = sizeof(expression_parameters2) / sizeof(char *);
bool is_cft_support{true};
{
rcl_subscription_content_filter_options_t options =
rcl_subscription_get_default_content_filter_options();
Expand All @@ -1235,10 +1201,10 @@ TEST_F(

ret = rcl_subscription_set_content_filter(
&subscription, &options);
if (is_vendor_support_cft) {
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
if(RCL_RET_UNSUPPORTED == RCL_RET_OK) {
is_cft_support = false;
} else {
ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

EXPECT_EQ(
Expand All @@ -1258,7 +1224,7 @@ TEST_F(
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

if (is_vendor_support_cft) {
if (is_cft_support) {
ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 30, 100));
} else {
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 30, 100));
Expand Down

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