Fix tests for new APIs.

Signed-off-by: Michael Carroll <michael@openrobotics.org>
ros2 · May 2, 2019 · 7126b49 · 7126b49
1 parent f611286
commit 7126b49
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Showing 2 changed files with 8 additions and 9 deletions.
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
@@ -83,7 +83,6 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
  const char * topic_name = "chatter";
  const char * expected_topic_name = "/chatter";
  rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
- publisher_options.preallocate = true;
  ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
@@ -94,7 +93,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
  test_msgs__msg__BasicTypes msg;
  test_msgs__msg__BasicTypes__init(&msg);
  msg.int64_value = 42;
- ret = rcl_publish(&publisher, &msg);
+ ret = rcl_publish(&publisher, &msg, nullptr);
  test_msgs__msg__BasicTypes__fini(&msg);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
@@ -117,7 +116,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
  test_msgs__msg__Strings msg;
  test_msgs__msg__Strings__init(&msg);
  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
- ret = rcl_publish(&publisher, &msg);
+ ret = rcl_publish(&publisher, &msg, nullptr);
  test_msgs__msg__Strings__fini(&msg);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
@@ -161,14 +160,14 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
  test_msgs__msg__BasicTypes msg_int;
  test_msgs__msg__BasicTypes__init(&msg_int);
  msg_int.int64_value = 42;
- ret = rcl_publish(&publisher, &msg_int);
+ ret = rcl_publish(&publisher, &msg_int, nullptr);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  test_msgs__msg__BasicTypes__fini(&msg_int);
 
  test_msgs__msg__Strings msg_string;
  test_msgs__msg__Strings__init(&msg_string);
  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.string_value, "testing"));
- ret = rcl_publish(&publisher_in_namespace, &msg_string);
+ ret = rcl_publish(&publisher_in_namespace, &msg_string, nullptr);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 

diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
@@ -163,7 +163,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
  test_msgs__msg__BasicTypes msg;
  test_msgs__msg__BasicTypes__init(&msg);
  msg.int64_value = 42;
- ret = rcl_publish(&publisher, &msg);
+ ret = rcl_publish(&publisher, &msg, nullptr);
  test_msgs__msg__BasicTypes__fini(&msg);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  }
@@ -176,7 +176,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
  test_msgs__msg__BasicTypes__fini(&msg);
  });
- ret = rcl_take(&subscription, &msg, nullptr);
+ ret = rcl_take(&subscription, &msg, nullptr, nullptr);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  ASSERT_EQ(42, msg.int64_value);
  }
@@ -214,7 +214,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
  test_msgs__msg__Strings msg;
  test_msgs__msg__Strings__init(&msg);
  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
- ret = rcl_publish(&publisher, &msg);
+ ret = rcl_publish(&publisher, &msg, nullptr);
  test_msgs__msg__Strings__fini(&msg);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  }
@@ -227,7 +227,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
  test_msgs__msg__Strings__fini(&msg);
  });
- ret = rcl_take(&subscription, &msg, nullptr);
+ ret = rcl_take(&subscription, &msg, nullptr, nullptr);
  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
  ASSERT_EQ(std::string(test_string), std::string(msg.string_value.data, msg.string_value.size));
  }