From 3f6fd661567728b6ffdded69ce084bd57c2a937f Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Mon, 26 Feb 2024 10:20:46 -0500 Subject: [PATCH] Change up the formatting in the test_rclcpp tests. (#537) Newer uncrustify changes the indentation around lambdas. Avoid that here by making sure the lambdas are all on either one or two lines, which should make this work for both current and newer uncrustify. Signed-off-by: Chris Lalancette --- ...st_avoid_ros_namespace_conventions_qos.cpp | 3 +-- test_rclcpp/test/test_multithreaded.cpp | 24 +++++++++---------- test_rclcpp/test/test_publisher.cpp | 3 +-- test_rclcpp/test/test_subscription.cpp | 3 +-- 4 files changed, 15 insertions(+), 18 deletions(-) diff --git a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp index 57d79bee..18fae5f5 100644 --- a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp +++ b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp @@ -47,8 +47,7 @@ TEST_F(test_avoid_ros_namespace_conventions_qos, pub_sub_works) // code to create the callback and subscription int counter = 0; auto callback = - [&counter](test_rclcpp::msg::UInt32::ConstSharedPtr msg, - const rclcpp::MessageInfo & info) -> void + [&counter](test_rclcpp::msg::UInt32::ConstSharedPtr msg, const rclcpp::MessageInfo & info) { ++counter; printf(" callback() %d with message data %u\n", counter, msg->data); diff --git a/test_rclcpp/test/test_multithreaded.cpp b/test_rclcpp/test/test_multithreaded.cpp index bcf1dcd6..effd80aa 100644 --- a/test_rclcpp/test/test_multithreaded.cpp +++ b/test_rclcpp/test/test_multithreaded.cpp @@ -66,9 +66,9 @@ static inline void multi_consumer_pub_sub_test(bool intra_process) std::vector::SharedPtr> subscriptions; std::atomic_int counter(0); + using MsgType = test_rclcpp::msg::UInt32; auto callback = - [&counter, &intra_process](test_rclcpp::msg::UInt32::ConstSharedPtr msg, - const rclcpp::MessageInfo & info) -> void + [&counter, &intra_process](MsgType::ConstSharedPtr msg, const rclcpp::MessageInfo & info) { counter.fetch_add(1); printf("callback() %d with message data %u\n", counter.load(), msg->data); @@ -79,7 +79,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process) rclcpp::SubscriptionOptions subscription_options; subscription_options.callback_group = callback_group; for (uint32_t i = 0; i < num_messages; ++i) { - auto sub = node->create_subscription( + auto sub = node->create_subscription( node_topic_name, 5 * num_messages, callback, subscription_options); subscriptions.push_back(sub); } @@ -87,7 +87,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process) int subscriptions_size = static_cast(subscriptions.size()); executor.add_node(node); - test_rclcpp::msg::UInt32 msg; + MsgType msg; msg.data = 0; // wait a moment for everything to initialize @@ -169,8 +169,9 @@ TEST_F(test_multithreaded, multi_consumer_clients) rclcpp::executors::MultiThreadedExecutor executor; std::atomic_int counter(0); - auto callback = [&counter](const std::shared_ptr request, - std::shared_ptr response) + using SrvType = test_rclcpp::srv::AddTwoInts; + auto callback = + [&counter](const SrvType::Request::SharedPtr request, SrvType::Response::SharedPtr response) { printf("Called service callback: %d\n", counter.load()); ++counter; @@ -185,16 +186,15 @@ TEST_F(test_multithreaded, multi_consumer_clients) "multi_consumer_clients", callback, qos_profile, callback_group); using ClientRequestPair = std::pair< - rclcpp::Client::SharedPtr, - test_rclcpp::srv::AddTwoInts::Request::SharedPtr>; - using SharedFuture = rclcpp::Client::SharedFuture; - + rclcpp::Client::SharedPtr, + SrvType::Request::SharedPtr>; + using SharedFuture = rclcpp::Client::SharedFuture; std::vector client_request_pairs; for (uint32_t i = 0; i < 2 * std::min(executor.get_number_of_threads(), 16); ++i) { - auto client = node->create_client( + auto client = node->create_client( "multi_consumer_clients", qos_profile, callback_group); - auto request = std::make_shared(); + auto request = std::make_shared(); request->a = i; request->b = i + 1; client_request_pairs.push_back(ClientRequestPair(client, request)); diff --git a/test_rclcpp/test/test_publisher.cpp b/test_rclcpp/test/test_publisher.cpp index f03edc79..401315b6 100644 --- a/test_rclcpp/test/test_publisher.cpp +++ b/test_rclcpp/test/test_publisher.cpp @@ -47,8 +47,7 @@ TEST_F(test_publisher, publish_with_const_reference) // code to create the callback and subscription int counter = 0; auto callback = - [&counter](test_rclcpp::msg::UInt32::ConstSharedPtr msg, - const rclcpp::MessageInfo & info) -> void + [&counter](test_rclcpp::msg::UInt32::ConstSharedPtr msg, const rclcpp::MessageInfo & info) { ++counter; printf(" callback() %d with message data %u\n", counter, msg->data); diff --git a/test_rclcpp/test/test_subscription.cpp b/test_rclcpp/test/test_subscription.cpp index d6686867..1b7695c2 100644 --- a/test_rclcpp/test/test_subscription.cpp +++ b/test_rclcpp/test/test_subscription.cpp @@ -290,8 +290,7 @@ TEST_F(test_subscription, subscription_shared_ptr_const_with_info) // create the callback and subscription int counter = 0; auto callback = - [&counter](test_rclcpp::msg::UInt32::ConstSharedPtr msg, - const rclcpp::MessageInfo & info) -> void + [&counter](test_rclcpp::msg::UInt32::ConstSharedPtr msg, const rclcpp::MessageInfo & info) { ++counter; printf(" callback() %d with message data %u\n", counter, msg->data);