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add a test case for cft options not supported #217

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add a test case for cft options not supported #217

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0c80d27
add a test case for cft options not supported
Feb 27, 2023
b2ff97e
unnessary to use heap variable
Apr 14, 2023
223455c
Merge remote-tracking branch 'remotes/origin/rolling' into topic-vali…
Sep 5, 2023
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41 changes: 41 additions & 0 deletions test_rmw_implementation/test/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,47 @@ TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_bad_argument
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
}

TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_unsupported_cft_options) {
constexpr char topic_name[] = "/test";
const rosidl_message_type_support_t * ts =
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);

rmw_subscription_options_t options = rmw_get_default_subscription_options();
auto allocator = rcutils_get_default_allocator();

rmw_subscription_content_filter_options_t * content_filter_options =
static_cast<rmw_subscription_content_filter_options_t *>(
allocator.allocate(
sizeof(rmw_subscription_content_filter_options_t), allocator.state));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
allocator.deallocate(content_filter_options, allocator.state);
});
*content_filter_options = rmw_get_zero_initialized_content_filter_options();

EXPECT_EQ(
RMW_RET_OK, rmw_subscription_content_filter_options_init(
"float32_value=not_exist_float_max()",
0,
NULL,
&allocator,
content_filter_options));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(
RMW_RET_OK,
rmw_subscription_content_filter_options_fini(content_filter_options, &allocator));
});
options.content_filter_options = content_filter_options;

rmw_subscription_t * sub =
rmw_create_subscription(node, ts, topic_name, &rmw_qos_profile_default, &options);
ASSERT_NE(nullptr, sub) << rmw_get_error_string().str;
EXPECT_FALSE(sub->is_cft_enabled);
rmw_ret_t ret = rmw_destroy_subscription(node, sub);
EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
}

TEST_F(CLASSNAME(TestSubscription, RMW_IMPLEMENTATION), create_with_internal_errors) {
constexpr char topic_name[] = "/test";
const rosidl_message_type_support_t * ts =
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