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Fix up rmw_cyclonedds timestamp testing. #1156

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merged 1 commit into from
May 9, 2024
Merged

Fix up rmw_cyclonedds timestamp testing. #1156

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20 changes: 5 additions & 15 deletions rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -295,24 +295,14 @@ function(test_target)
ament_add_test_label(test_subscription${target_suffix} mimick)
# TODO(asorbini) Enable message timestamp tests for rmw_connextdds on Windows
# once clock incompatibilities are resolved.
if(rmw_implementation STREQUAL "rmw_fastrtps_cpp" OR
rmw_implementation STREQUAL "rmw_fastrtps_dynamic_cpp" OR
(rmw_implementation STREQUAL "rmw_connextdds" AND NOT WIN32))
if(rmw_implementation STREQUAL "rmw_connextdds" AND WIN32)
message(STATUS "Disabling message timestamp test for ${rmw_implementation}")
else()
message(STATUS "Enabling message timestamp test for ${rmw_implementation}")
target_compile_definitions(test_subscription${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1" "RMW_RECEIVED_TIMESTAMP_SUPPORTED=1")
PRIVATE "RMW_TIMESTAMPS_SUPPORTED=1")
target_compile_definitions(test_service${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1" "RMW_RECEIVED_TIMESTAMP_SUPPORTED=1")
else()
if(rmw_implementation STREQUAL "rmw_cyclonedds_cpp")
message(STATUS "Enabling only source timestamp test for ${rmw_implementation}")
target_compile_definitions(test_subscription${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1")
target_compile_definitions(test_service${target_suffix}
PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1")
else()
message(STATUS "Disabling message timestamp test for ${rmw_implementation}")
endif()
PRIVATE "RMW_TIMESTAMPS_SUPPORTED=1")
endif()

ament_add_gtest_test(test_events
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8 changes: 0 additions & 8 deletions rcl/test/rcl/test_service.cpp
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Expand Up @@ -183,12 +183,8 @@ TEST_F(TestServiceFixture, test_service_nominal) {
EXPECT_EQ(2UL, service_request.uint32_value);
#ifdef RMW_TIMESTAMPS_SUPPORTED
EXPECT_GE(header.source_timestamp, start_timestamp);
#ifdef RMW_RECEIVED_TIMESTAMP_SUPPORTED
EXPECT_GE(header.received_timestamp, start_timestamp);
EXPECT_GE(header.received_timestamp, header.source_timestamp);
#else
EXPECT_EQ(0u, header.received_timestamp);
#endif
#else
EXPECT_EQ(0u, header.source_timestamp);
EXPECT_EQ(0u, header.received_timestamp);
Expand All @@ -214,12 +210,8 @@ TEST_F(TestServiceFixture, test_service_nominal) {
EXPECT_EQ(header.request_id.sequence_number, 1);
#ifdef RMW_TIMESTAMPS_SUPPORTED
EXPECT_GE(header.source_timestamp, start_timestamp);
#ifdef RMW_RECEIVED_TIMESTAMP_SUPPORTED
EXPECT_GE(header.received_timestamp, start_timestamp);
EXPECT_GE(header.received_timestamp, header.source_timestamp);
#else
EXPECT_EQ(0u, header.received_timestamp);
#endif
#else
EXPECT_EQ(0u, header.source_timestamp);
EXPECT_EQ(0u, header.received_timestamp);
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4 changes: 0 additions & 4 deletions rcl/test/rcl/test_subscription.cpp
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Expand Up @@ -318,13 +318,9 @@ TEST_F(TestSubscriptionFixture, test_subscription_nominal) {
EXPECT_NE(0u, message_info.source_timestamp);
EXPECT_TRUE(pre_publish_time <= message_info.source_timestamp) <<
pre_publish_time << " > " << message_info.source_timestamp;
#ifdef RMW_RECEIVED_TIMESTAMP_SUPPORTED
EXPECT_NE(0u, message_info.received_timestamp);
EXPECT_TRUE(pre_publish_time <= message_info.received_timestamp);
EXPECT_TRUE(message_info.source_timestamp <= message_info.received_timestamp);
#else
EXPECT_EQ(0u, message_info.received_timestamp);
#endif
#else
EXPECT_EQ(0u, message_info.source_timestamp);
EXPECT_EQ(0u, message_info.received_timestamp);
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