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Remove special case check for manual_by_node for rmw_fastrtps #467

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Jul 2, 2019
Merged

Remove special case check for manual_by_node for rmw_fastrtps #467

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19 changes: 0 additions & 19 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,6 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
void SetUp()
{
is_opensplice = (std::string(rmw_get_implementation_identifier()).find("rmw_opensplice") == 0);
bool is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
is_manual_by_node_liveliness_supported = !is_fastrtps;

rcl_ret_t ret;
{
Expand Down Expand Up @@ -212,7 +210,6 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
rcl_subscription_t subscription;
rcl_event_t subscription_event;
bool is_opensplice;
bool is_manual_by_node_liveliness_supported;
const char * topic = "rcl_test_publisher_subscription_events";
const rosidl_message_type_support_t * ts;
};
Expand Down Expand Up @@ -343,22 +340,6 @@ conditional_wait_for_msgs_and_events(
return RCL_RET_TIMEOUT;
}

TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_liveliness) {
if (is_manual_by_node_liveliness_supported) {
return;
}
rmw_time_t deadline {0, 0};
rmw_time_t lifespan {0, 0};
rmw_time_t lease_duration {0, 0};
rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
EXPECT_EQ(RCL_RET_ERROR,
setup_subscriber(deadline, lifespan, lease_duration, liveliness_policy)) <<
"Initialized subscription with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE when unsupported";
EXPECT_EQ(RCL_RET_ERROR,
setup_publisher(deadline, lifespan, lease_duration, liveliness_policy)) <<
"Initialized publisher with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE when unsupported";
}

/*
* Basic test of publisher and subscriber deadline events, with first message sent before deadline
*/
Expand Down