Revamp test_rclcpp to compile far few files. (#535)

Instead of recompiling the tests multiple times for each RMW, instead just compile it once and use the RMW_IMPLEMENTATION environment variable to control which RMW gets used. On my machine, this sped up compilation by about 2x, and should reduce the number of times our coverage jobs fail because they run out of memory. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Feb 15, 2024 · 2144c02 · 2144c02
1 parent 1da5e30
commit 2144c02
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Showing 24 changed files with 396 additions and 371 deletions.
diff --git a/test_rclcpp/CMakeLists.txt b/test_rclcpp/CMakeLists.txt
diff --git a/test_rclcpp/test/node_check_names.cpp b/test_rclcpp/test/node_check_names.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
 #include <string>
 
 #include "rclcpp/rclcpp.hpp"

diff --git a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
@@ -25,15 +25,7 @@
 
 #include "./pub_sub_fixtures.hpp"
 
-#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 (test_avoid_ros_namespace_conventions_qos, RMW_IMPLEMENTATION)
-  : public ::testing::Test
+class test_avoid_ros_namespace_conventions_qos : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -48,10 +40,8 @@ class CLASSNAME (test_avoid_ros_namespace_conventions_qos, RMW_IMPLEMENTATION)
 };
 
 // Test communciation works with the avoid_ros_namespace_conventions QoS enabled.
-TEST_F(
-  CLASSNAME(test_avoid_ros_namespace_conventions_qos, RMW_IMPLEMENTATION),
-  pub_sub_works
-) {
+TEST_F(test_avoid_ros_namespace_conventions_qos, pub_sub_works)
+{
   // topic name
   std::string topic_name = "test_avoid_ros_namespace_conventions_qos";
   // code to create the callback and subscription

diff --git a/test_rclcpp/test/test_client_scope_client.cpp b/test_rclcpp/test/test_client_scope_client.cpp
@@ -21,16 +21,9 @@
 #include "rclcpp/rclcpp.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using namespace std::chrono_literals;
 
-class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test
+class service_client : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -44,7 +37,8 @@ class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test
   }
 };
 
-TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test) {
+TEST_F(service_client, client_scope_regression_test)
+{
   auto node = rclcpp::Node::make_shared("client_scope_regression_test");
 
   // Extra scope so the first client will be deleted afterwards

diff --git a/test_rclcpp/test/test_client_scope_consistency_client.cpp b/test_rclcpp/test/test_client_scope_consistency_client.cpp
@@ -12,9 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <inttypes.h>
-
 #include <chrono>
+#include <cinttypes>
 #include <iostream>
 #include <memory>
 
@@ -23,16 +22,9 @@
 #include "rclcpp/rclcpp.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using namespace std::chrono_literals;
 
-class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test
+class service_client : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -48,7 +40,8 @@ class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test
 
 // This test is concerned with the consistency of the two clients' behavior, not necessarily whether
 // or not they are successful.
-TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_regression_test) {
+TEST_F(service_client, client_scope_consistency_regression_test)
+{
   auto node = rclcpp::Node::make_shared("client_scope_consistency_regression_test");
 
   // Replicate the settings that caused https://github.com/ros2/system_tests/issues/153

diff --git a/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp b/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
@@ -20,16 +20,9 @@
 #include "rcpputils/scope_exit.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using namespace std::chrono_literals;
 
-class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test
+class service_client : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -44,7 +37,8 @@ class CLASSNAME (service_client, RMW_IMPLEMENTATION) : public ::testing::Test
 };
 
 // rclcpp::shutdown() should wake up wait_for_service, even without spin.
-TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), wait_for_service_shutdown) {
+TEST_F(service_client, wait_for_service_shutdown)
+{
   auto node = rclcpp::Node::make_shared("wait_for_service_shutdown");
 
   auto client = node->create_client<test_rclcpp::srv::AddTwoInts>("wait_for_service_shutdown");

diff --git a/test_rclcpp/test/test_executor.cpp b/test_rclcpp/test/test_executor.cpp
@@ -31,16 +31,9 @@
 #include "test_rclcpp/msg/u_int32.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using namespace std::chrono_literals;
 
-class CLASSNAME (test_executor, RMW_IMPLEMENTATION) : public ::testing::Test
+class test_executor : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -54,7 +47,8 @@ class CLASSNAME (test_executor, RMW_IMPLEMENTATION) : public ::testing::Test
   }
 };
 
-TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), recursive_spin_call) {
+TEST_F(test_executor, recursive_spin_call)
+{
   rclcpp::executors::SingleThreadedExecutor executor;
   auto node = rclcpp::Node::make_shared("recursive_spin_call");
   auto timer = node->create_wall_timer(
@@ -69,7 +63,8 @@ TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), recursive_spin_call) {
   executor.spin();
 }
 
-TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
+TEST_F(test_executor, spin_some_max_duration)
+{
   rclcpp::executors::SingleThreadedExecutor executor;
   auto node = rclcpp::Node::make_shared("spin_some_max_duration");
   auto lambda = []() {
@@ -92,7 +87,8 @@ TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
   ASSERT_GT(max_duration + 500ms, end - start);
 }
 
-TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
+TEST_F(test_executor, multithreaded_spin_call)
+{
   rclcpp::executors::SingleThreadedExecutor executor;
   auto node = rclcpp::Node::make_shared("multithreaded_spin_call");
   std::mutex m;
@@ -124,7 +120,8 @@ TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
 }
 
 // Try spinning 2 single-threaded executors in two separate threads.
-TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multiple_executors) {
+TEST_F(test_executor, multiple_executors)
+{
   std::atomic_uint counter1;
   counter1 = 0;
   std::atomic_uint counter2;
@@ -184,7 +181,8 @@ TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multiple_executors) {
 
 // Check that the executor is notified when a node adds a new timer, publisher, subscription,
 // service or client.
-TEST_F(CLASSNAME(test_executor, RMW_IMPLEMENTATION), notify) {
+TEST_F(test_executor, notify)
+{
   rclcpp::executors::SingleThreadedExecutor executor;
   auto executor_spin_lambda = [&executor]() {
       executor.spin();

diff --git a/test_rclcpp/test/test_intra_process.cpp b/test_rclcpp/test/test_intra_process.cpp
@@ -22,18 +22,10 @@
 
 #include "test_rclcpp/msg/u_int32.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-
 static const std::chrono::milliseconds sleep_per_loop(10);
 static const int max_loops = 200;
 
-class CLASSNAME (test_intra_process_within_one_node, RMW_IMPLEMENTATION) : public ::testing::Test
+class test_intra_process_within_one_node : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -47,7 +39,8 @@ class CLASSNAME (test_intra_process_within_one_node, RMW_IMPLEMENTATION) : publi
   }
 };
 
-TEST_F(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_usage) {
+TEST_F(test_intra_process_within_one_node, nominal_usage)
+{
   // use intra process = true
   auto node = rclcpp::Node::make_shared(
     "test_intra_process",

diff --git a/test_rclcpp/test/test_local_parameters.cpp b/test_rclcpp/test/test_local_parameters.cpp
@@ -27,14 +27,7 @@
 
 using namespace std::chrono_literals;
 
-#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 (test_local_parameters, RMW_IMPLEMENTATION) : public ::testing::Test
+class test_local_parameters : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -48,7 +41,8 @@ class CLASSNAME (test_local_parameters, RMW_IMPLEMENTATION) : public ::testing::
   }
 };
 
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
+TEST_F(test_local_parameters, to_string)
+{
   rclcpp::Parameter pv("foo", "bar");
   rclcpp::Parameter pv2("foo2", "bar2");
   std::string json_dict = std::to_string(pv);
@@ -79,7 +73,8 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
     std::to_string(pv).c_str());
 }
 
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
+TEST_F(test_local_parameters, local_synchronous)
+{
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous");
   declare_test_parameters(node);
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
@@ -90,7 +85,8 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous)
   test_get_parameters_sync(parameters_client);
 }
 
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_repeated) {
+TEST_F(test_local_parameters, local_synchronous_repeated)
+{
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous_repeated");
   declare_test_parameters(node);
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
@@ -104,7 +100,8 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_r
   }
 }
 
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_asynchronous) {
+TEST_F(test_local_parameters, local_asynchronous)
+{
   auto node = rclcpp::Node::make_shared(std::string("test_parameters_local_asynchronous"));
   declare_test_parameters(node);
   auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
@@ -164,7 +161,8 @@ class ParametersAsyncNode : public rclcpp::Node
 
 // Regression test for calling parameter client async services, but having the specified callback
 // go out of scope before it gets called: see https://github.com/ros2/rclcpp/pull/414
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_callback) {
+TEST_F(test_local_parameters, local_async_with_callback)
+{
   auto node = std::make_shared<ParametersAsyncNode>();
   if (!node->parameters_client_->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -176,7 +174,8 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_ca
   executor.spin();
 }
 
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
+TEST_F(test_local_parameters, helpers)
+{
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
   node->declare_parameter("foo", 0);
   node->declare_parameter("bar", "");
@@ -299,7 +298,8 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
   EXPECT_EQ(barfoo[2], 5);
 }
 
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primitive_type) {
+TEST_F(test_local_parameters, get_from_node_primitive_type)
+{
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
   node->declare_parameter("foo", 0);
   node->declare_parameter("bar", "");
@@ -372,7 +372,8 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primi
   EXPECT_EQ(barfoo[2], 5);
 }
 
-TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant_type) {
+TEST_F(test_local_parameters, get_from_node_variant_type)
+{
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
@@ -437,11 +438,3 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_varia
   EXPECT_NO_THROW(got_param = node->get_parameter("barfoo", barfoo));
   EXPECT_EQ(true, got_param);
 }
-
-int main(int argc, char ** argv)
-{
-  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  return ret;
-}