Only compile the tests once. (#2590)

Even when we want to run them on multiple RMWs, we can do that by compiling once, then setting the environment variable appropriately. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Jul 26, 2024 · 9b1e6c9 · 9b1e6c9
1 parent a4d7210
commit 9b1e6c9
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Showing 2 changed files with 61 additions and 61 deletions.
diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -99,17 +99,6 @@ ament_add_gtest(test_create_subscription test_create_subscription.cpp)
 if(TARGET test_create_subscription)
   target_link_libraries(test_create_subscription ${PROJECT_NAME} ${test_msgs_TARGETS})
 endif()
-function(test_add_callback_groups_to_executor_for_rmw_implementation)
-  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
-  ament_add_gmock(test_add_callback_groups_to_executor${target_suffix} test_add_callback_groups_to_executor.cpp
-    ENV ${rmw_implementation_env_var}
-    TIMEOUT 120
-  )
-  if(TARGET test_add_callback_groups_to_executor${target_suffix})
-    target_link_libraries(test_add_callback_groups_to_executor${target_suffix} ${PROJECT_NAME} ${test_msgs_TARGETS})
-  endif()
-endfunction()
-call_for_each_rmw_implementation(test_add_callback_groups_to_executor_for_rmw_implementation)
 ament_add_gtest(test_expand_topic_or_service_name test_expand_topic_or_service_name.cpp)
 ament_add_test_label(test_expand_topic_or_service_name mimick)
 if(TARGET test_expand_topic_or_service_name)
@@ -337,28 +326,6 @@ if(TARGET test_qos)
     rmw::rmw
   )
 endif()
-function(test_generic_pubsub_for_rmw_implementation)
-  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
-  ament_add_gmock(test_generic_pubsub${target_suffix} test_generic_pubsub.cpp
-    ENV ${rmw_implementation_env_var}
-  )
-  if(TARGET test_generic_pubsub${target_suffix})
-    target_link_libraries(test_generic_pubsub${target_suffix} ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
-  endif()
-endfunction()
-call_for_each_rmw_implementation(test_generic_pubsub_for_rmw_implementation)
-
-function(test_qos_event_for_rmw_implementation)
-  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
-  ament_add_gmock(test_qos_event${target_suffix} test_qos_event.cpp
-    ENV ${rmw_implementation_env_var}
-  )
-  ament_add_test_label(test_qos_event${target_suffix} mimick)
-  if(TARGET test_qos_event${target_suffix})
-    target_link_libraries(test_qos_event${target_suffix} ${PROJECT_NAME} mimick rcutils::rcutils rmw::rmw ${test_msgs_TARGETS})
-  endif()
-endfunction()
-call_for_each_rmw_implementation(test_qos_event_for_rmw_implementation)
 
 ament_add_gmock(test_qos_overriding_options test_qos_overriding_options.cpp)
 if(TARGET test_qos_overriding_options)
@@ -650,16 +617,51 @@ if(TARGET test_graph_listener)
   target_link_libraries(test_graph_listener ${PROJECT_NAME} mimick)
 endif()
 
-function(test_subscription_content_filter_for_rmw_implementation)
+ament_add_gmock_executable(test_qos_event test_qos_event.cpp)
+if(TARGET test_qos_event)
+  target_link_libraries(test_qos_event ${PROJECT_NAME} mimick rcutils::rcutils rmw::rmw ${test_msgs_TARGETS})
+endif()
+
+ament_add_gmock_executable(test_generic_pubsub test_generic_pubsub.cpp)
+if(TARGET test_generic_pubsub)
+  target_link_libraries(test_generic_pubsub ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
+endif()
+
+ament_add_gmock_executable(test_add_callback_groups_to_executor test_add_callback_groups_to_executor.cpp)
+if(TARGET test_add_callback_groups_to_executor)
+  target_link_libraries(test_add_callback_groups_to_executor ${PROJECT_NAME} ${test_msgs_TARGETS})
+endif()
+
+ament_add_gmock_executable(test_subscription_content_filter test_subscription_content_filter.cpp)
+if(TARGET test_subscription_content_filter)
+  target_link_libraries(test_subscription_content_filter ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
+endif()
+
+function(test_on_all_rmws)
   set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
-  ament_add_gmock(test_subscription_content_filter${target_suffix}
-    test_subscription_content_filter.cpp
+
+  ament_add_gmock_test(test_qos_event
+    TEST_NAME test_qos_event${target_suffix}
+    ENV ${rmw_implementation_env_var}
+  )
+  ament_add_test_label(test_qos_event${target_suffix} mimick)
+
+  ament_add_gmock_test(test_generic_pubsub
+    TEST_NAME test_generic_pubsub${target_suffix}
+    ENV ${rmw_implementation_env_var}
+  )
+
+  ament_add_gmock_test(test_add_callback_groups_to_executor
+    TEST_NAME test_add_callback_groups_to_executor${target_suffix}
+    ENV ${rmw_implementation_env_var}
+    TIMEOUT 120
+  )
+
+  ament_add_gmock_test(test_subscription_content_filter
+    TEST_NAME test_subscription_content_filter${target_suffix}
     ENV ${rmw_implementation_env_var}
     TIMEOUT 120
   )
   ament_add_test_label(test_subscription_content_filter${target_suffix} mimick)
-  if(TARGET test_subscription_content_filter${target_suffix})
-    target_link_libraries(test_subscription_content_filter${target_suffix} ${PROJECT_NAME} mimick ${test_msgs_TARGETS})
-  endif()
 endfunction()
-call_for_each_rmw_implementation(test_subscription_content_filter_for_rmw_implementation)
+call_for_each_rmw_implementation(test_on_all_rmws)
diff --git a/rclcpp/test/rclcpp/test_subscription_content_filter.cpp b/rclcpp/test/rclcpp/test_subscription_content_filter.cpp
@@ -30,14 +30,7 @@
 
 #include "test_msgs/msg/basic_types.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 (TestContentFilterSubscription, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestContentFilterSubscription : public ::testing::Test
 {
 public:
   static void SetUpTestCase()
@@ -113,7 +106,8 @@ bool operator==(const test_msgs::msg::BasicTypes & m1, const test_msgs::msg::Bas
          m1.uint64_value == m2.uint64_value;
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), is_cft_enabled) {
+TEST_F(TestContentFilterSubscription, is_cft_enabled)
+{
   {
     auto mock = mocking_utils::patch_and_return(
       "lib:rclcpp", rcl_subscription_is_cft_enabled, false);
@@ -127,7 +121,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), is_cft_enab
   }
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), get_content_filter_error) {
+TEST_F(TestContentFilterSubscription, get_content_filter_error)
+{
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_subscription_get_content_filter, RCL_RET_ERROR);
 
@@ -137,7 +132,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), get_content
     rclcpp::exceptions::RCLError);
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), set_content_filter_error) {
+TEST_F(TestContentFilterSubscription, set_content_filter_error)
+{
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_subscription_set_content_filter, RCL_RET_ERROR);
 
@@ -148,7 +144,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), set_content
     rclcpp::exceptions::RCLError);
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), get_content_filter) {
+TEST_F(TestContentFilterSubscription, get_content_filter)
+{
   rclcpp::ContentFilterOptions options;
 
   if (sub->is_cft_enabled()) {
@@ -164,7 +161,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), get_content
   }
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), set_content_filter) {
+TEST_F(TestContentFilterSubscription, set_content_filter)
+{
   if (sub->is_cft_enabled()) {
     EXPECT_NO_THROW(
       sub->set_content_filter(filter_expression_init, expression_parameters_2));
@@ -175,7 +173,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), set_content
   }
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), content_filter_get_begin) {
+TEST_F(TestContentFilterSubscription, content_filter_get_begin)
+{
   using namespace std::chrono_literals;
   {
     test_msgs::msg::BasicTypes msg;
@@ -217,7 +216,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), content_fil
   }
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), content_filter_get_later) {
+TEST_F(TestContentFilterSubscription, content_filter_get_later)
+{
   using namespace std::chrono_literals;
   {
     test_msgs::msg::BasicTypes msg;
@@ -264,7 +264,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), content_fil
   }
 }
 
-TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), content_filter_reset) {
+TEST_F(TestContentFilterSubscription, content_filter_reset)
+{
   using namespace std::chrono_literals;
   {
     test_msgs::msg::BasicTypes msg;
@@ -311,11 +312,8 @@ TEST_F(CLASSNAME(TestContentFilterSubscription, RMW_IMPLEMENTATION), content_fil
   }
 }
 
-TEST_F(
-  CLASSNAME(
-    TestContentFilterSubscription,
-    RMW_IMPLEMENTATION), create_two_content_filters_with_same_topic_name_and_destroy) {
-
+TEST_F(TestContentFilterSubscription, create_two_content_filters_with_same_topic_name_and_destroy)
+{
   // Create another content filter
   auto options = rclcpp::SubscriptionOptions();