From b7f05d9504e7fff400a85b6b8ea32b71b13007f4 Mon Sep 17 00:00:00 2001 From: "M. M" Date: Tue, 29 Jan 2019 05:09:12 -0800 Subject: [PATCH] remove unit test hack (#368) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Miaofei Signed-off-by: Steven! Ragnarök --- rcl/test/rcl/test_graph.cpp | 29 ++++++++++++----------------- 1 file changed, 12 insertions(+), 17 deletions(-) diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp index 1afa45773..3ca46f095 100644 --- a/rcl/test/rcl/test_graph.cpp +++ b/rcl/test/rcl/test_graph.cpp @@ -494,12 +494,8 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME { std::vector node_vec; node_vec.push_back(this->node_ptr); - if (!(is_opensplice || is_connext)) { - // TODO(ross-desmond): opensplice and connext cannot discover data about - // the current node due to their implementations of Simple Discovery - // Protocol. Should be fixed later. - node_vec.push_back(this->remote_node_ptr); - } + node_vec.push_back(this->remote_node_ptr); + size_t attempts = 20; bool is_expect = false; rcl_ret_t ret; @@ -509,17 +505,16 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME bool is_success = true; // verify each node contains the same node graph. for (auto node : node_vec) { - if (!(is_opensplice || is_connext)) { - RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from node"); - expect_topics_types(node, sub_func, node_state.subscribers, - test_graph_node_name, is_expect, is_success); - RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node"); - expect_topics_types(node, service_func, node_state.services, - test_graph_node_name, is_expect, is_success); - RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node"); - expect_topics_types(node, pub_func, node_state.publishers, - test_graph_node_name, is_expect, is_success); - } + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from node"); + expect_topics_types(node, sub_func, node_state.subscribers, + test_graph_node_name, is_expect, is_success); + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking services from node"); + expect_topics_types(node, service_func, node_state.services, + test_graph_node_name, is_expect, is_success); + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking publishers from node"); + expect_topics_types(node, pub_func, node_state.publishers, + test_graph_node_name, is_expect, is_success); + RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Checking subscribers from remote node"); expect_topics_types(node, sub_func, remote_node_state.subscribers, this->remote_node_name, is_expect, is_success);