Stop compiling rcl_action tests multiple times. (#1165)

We don't need to compile the tests once for each RMW; we can just compile it once and then use the RMW_IMPLEMENTATION environment variable to run the tests on the different RMWs. This speeds up compilation. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Jul 2, 2024 · 250d820 · 250d820
1 parent 3e7ce76
commit 250d820
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Showing 4 changed files with 81 additions and 95 deletions.
diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
@@ -102,47 +102,56 @@ if(BUILD_TESTING)
     target_compile_definitions(test_action_client PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 
-  # get the rmw implementations ahead of time
-  find_package(rmw_implementation_cmake REQUIRED)
-  get_available_rmw_implementations(rmw_implementations)
-  foreach(rmw_implementation ${rmw_implementations})
-    find_package("${rmw_implementation}" REQUIRED)
-  endforeach()
-
-  function(custom_test_c target)
-    ament_add_gtest(
-      "${target}${target_suffix}" ${ARGN}
-      TIMEOUT 180
-      ENV
-      RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
-      RMW_IMPLEMENTATION=${rmw_implementation}
+  ament_add_gtest_executable(test_action_communication test/rcl_action/test_action_communication.cpp)
+  target_link_libraries(test_action_communication
+    ${PROJECT_NAME}
+    ${action_msgs_TARGETS}
+    osrf_testing_tools_cpp::memory_tools
+    rcl::rcl
+    rosidl_runtime_c::rosidl_runtime_c
+    ${test_msgs_TARGETS})
+
+  ament_add_gtest_executable(test_action_interaction test/rcl_action/test_action_interaction.cpp)
+  target_link_libraries(test_action_interaction
+    ${PROJECT_NAME}
+    ${action_msgs_TARGETS}
+    osrf_testing_tools_cpp::memory_tools
+    rcl::rcl
+    rosidl_runtime_c::rosidl_runtime_c
+    ${test_msgs_TARGETS})
+
+  ament_add_gtest_executable(test_graph test/rcl_action/test_graph.cpp)
+  target_compile_definitions(test_graph PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
+  target_link_libraries(test_graph
+    ${PROJECT_NAME}
+    ${action_msgs_TARGETS}
+    osrf_testing_tools_cpp::memory_tools
+    rcl::rcl
+    rcutils::rcutils
+    rosidl_runtime_c::rosidl_runtime_c
+    ${test_msgs_TARGETS})
+
+  function(test_targets)
+    message(STATUS "Creating tests for '${rmw_implementation}'")
+    set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+
+    ament_add_gtest_test(test_action_communication
+      TEST_NAME test_action_communication${target_suffix}
+      ENV ${rmw_implementation_env_var}
     )
-    if(TARGET ${target}${target_suffix})
-      target_compile_definitions(${target}${target_suffix}
-        PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
-        target_compile_definitions(${target}${target_suffix}
-          PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
-      target_link_libraries(${target}${target_suffix}
-        ${PROJECT_NAME}
-        osrf_testing_tools_cpp::memory_tools
-        rcl::rcl
-        rosidl_runtime_c::rosidl_runtime_c
-        ${test_msgs_TARGETS}
-      )
-    endif()
-  endfunction()
 
-  macro(targets)
-    custom_test_c(test_action_communication
-      "test/rcl_action/test_action_communication.cpp")
-    custom_test_c(test_action_interaction
-      "test/rcl_action/test_action_interaction.cpp")
+    ament_add_gtest_test(test_action_interaction
+      TEST_NAME test_action_interaction${target_suffix}
+      ENV ${rmw_implementation_env_var}
+    )
 
-    custom_test_c(test_graph
-      "test/rcl_action/test_graph.cpp")
-  endmacro()
+    ament_add_gtest_test(test_graph
+      TEST_NAME test_graph${target_suffix}
+      ENV ${rmw_implementation_env_var}
+    )
+  endfunction()
 
-  call_for_each_rmw_implementation(targets)
+  call_for_each_rmw_implementation(test_targets)
 
   ament_add_gtest(test_action_server
     test/rcl_action/test_action_server.cpp

diff --git a/rcl_action/test/rcl_action/test_action_communication.cpp b/rcl_action/test/rcl_action/test_action_communication.cpp
@@ -27,16 +27,11 @@
 
 #include "rosidl_runtime_c/primitives_sequence_functions.h"
 
-#include "test_msgs/action/fibonacci.h"
+#include "action_msgs/srv/cancel_goal.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
+#include "test_msgs/action/fibonacci.h"
 
-class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestActionCommunication : public ::testing::Test
 {
 protected:
   void SetUp() override
@@ -182,7 +177,7 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
   bool is_result_response_ready;
 };  // class TestActionCommunication
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_comm)
+TEST_F(TestActionCommunication, test_valid_goal_comm)
 {
   test_msgs__action__Fibonacci_SendGoal_Request outgoing_goal_request;
   test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
@@ -288,8 +283,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
   test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
 }
 
-
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel_comm)
+TEST_F(TestActionCommunication, test_valid_cancel_comm)
 {
   action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
   action_msgs__srv__CancelGoal_Request incoming_cancel_request;
@@ -416,7 +410,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
   action_msgs__srv__CancelGoal_Response__fini(&outgoing_cancel_response);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result_comm)
+TEST_F(TestActionCommunication, test_valid_result_comm)
 {
   test_msgs__action__Fibonacci_GetResult_Request outgoing_result_request;
   test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
@@ -531,7 +525,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
   test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status_comm)
+TEST_F(TestActionCommunication, test_valid_status_comm)
 {
   action_msgs__msg__GoalStatusArray incoming_status_array;
   action_msgs__msg__GoalStatusArray__init(&incoming_status_array);
@@ -607,7 +601,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
   EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(goal_handle));
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm)
+TEST_F(TestActionCommunication, test_valid_feedback_comm)
 {
   test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
   test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
@@ -670,7 +664,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
   test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_request_opts)
+TEST_F(TestActionCommunication, test_invalid_goal_request_opts)
 {
   test_msgs__action__Fibonacci_SendGoal_Request outgoing_goal_request;
   test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
@@ -727,7 +721,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
   test_msgs__action__Fibonacci_SendGoal_Request__fini(&incoming_goal_request);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_response_opts)
+TEST_F(TestActionCommunication, test_invalid_goal_response_opts)
 {
   test_msgs__action__Fibonacci_SendGoal_Response outgoing_goal_response;
   test_msgs__action__Fibonacci_SendGoal_Response incoming_goal_response;
@@ -788,7 +782,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
   test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_request_opts)
+TEST_F(TestActionCommunication, test_invalid_cancel_request_opts)
 {
   action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
   action_msgs__srv__CancelGoal_Request incoming_cancel_request;
@@ -846,8 +840,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
   action_msgs__srv__CancelGoal_Request__fini(&outgoing_cancel_request);
 }
 
-
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_response_opts)
+TEST_F(TestActionCommunication, test_invalid_cancel_response_opts)
 {
   action_msgs__srv__CancelGoal_Response outgoing_cancel_response;
   action_msgs__srv__CancelGoal_Response incoming_cancel_response;
@@ -910,7 +903,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
   action_msgs__srv__CancelGoal_Response__fini(&outgoing_cancel_response);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_request_opts)
+TEST_F(TestActionCommunication, test_invalid_result_request_opts)
 {
   test_msgs__action__Fibonacci_GetResult_Request outgoing_result_request;
   test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
@@ -966,7 +959,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
   test_msgs__action__Fibonacci_GetResult_Request__fini(&outgoing_result_request);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_response_opts)
+TEST_F(TestActionCommunication, test_invalid_result_response_opts)
 {
   test_msgs__action__Fibonacci_GetResult_Response outgoing_result_response;
   test_msgs__action__Fibonacci_GetResult_Response incoming_result_response;
@@ -1029,7 +1022,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
   test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feedback_opts)
+TEST_F(TestActionCommunication, test_invalid_feedback_opts)
 {
   test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
   test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
@@ -1081,7 +1074,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed
   test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_status_opts)
+TEST_F(TestActionCommunication, test_invalid_status_opts)
 {
   action_msgs__msg__GoalStatusArray incoming_status_array;
   action_msgs__msg__GoalStatusArray__init(&incoming_status_array);
@@ -1130,7 +1123,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_stat
   action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
 }
 
-TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm_maybe_fail)
+TEST_F(TestActionCommunication, test_valid_feedback_comm_maybe_fail)
 {
   test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
   test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;

diff --git a/rcl_action/test/rcl_action/test_action_interaction.cpp b/rcl_action/test/rcl_action/test_action_interaction.cpp
@@ -24,16 +24,11 @@
 
 #include "rosidl_runtime_c/primitives_sequence_functions.h"
 
-#include "test_msgs/action/fibonacci.h"
+#include "action_msgs/srv/cancel_goal.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
+#include "test_msgs/action/fibonacci.h"
 
-class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestActionClientServerInteraction : public ::testing::Test
 {
 protected:
   void SetUp() override
@@ -204,7 +199,7 @@ class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public
 // Following the goal request, the client makes an asynchronous request for the
 // result. The feedback is published to the action client as it executes the goal.
 // Ultimately, a result message is populated which is then used as part of the result response.
-TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_interaction)
+TEST_F(TestActionClientServerInteraction, test_interaction)
 {
   // Initialize goal request
   init_test_uuid0(this->outgoing_goal_request.goal_id.uuid);
@@ -467,8 +462,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in
 // This example is almost identical to the first, but this time the action client requests
 // for the goal to be canceled mid-execution. Note that it is allowed to perform any shutdown
 // operations after the cancel request before returning with the cancellation result.
-TEST_F(
-  CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_interaction_with_cancel)
+TEST_F(TestActionClientServerInteraction, test_interaction_with_cancel)
 {
   action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
   action_msgs__srv__CancelGoal_Request incoming_cancel_request;

diff --git a/rcl_action/test/rcl_action/test_graph.cpp b/rcl_action/test/rcl_action/test_graph.cpp
@@ -30,19 +30,12 @@
 
 #include "test_msgs/action/fibonacci.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 void * bad_malloc(size_t, void *)
 {
   return NULL;
 }
 
-class CLASSNAME (TestActionGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestActionGraphFixture : public ::testing::Test
 {
 public:
   rcl_allocator_t allocator = rcl_get_default_allocator();
@@ -106,9 +99,7 @@ class CLASSNAME (TestActionGraphFixture, RMW_IMPLEMENTATION) : public ::testing:
   }
 };
 
-TEST_F(
-  CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
-  test_action_get_client_names_and_types_by_node)
+TEST_F(TestActionGraphFixture, test_action_get_client_names_and_types_by_node)
 {
   rcl_ret_t ret;
   rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
@@ -168,9 +159,7 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(
-  CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
-  test_action_get_server_names_and_types_by_node)
+TEST_F(TestActionGraphFixture, test_action_get_server_names_and_types_by_node)
 {
   rcl_ret_t ret;
   rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
@@ -221,9 +210,7 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(
-  CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
-  test_action_get_names_and_types)
+TEST_F(TestActionGraphFixture, test_action_get_names_and_types)
 {
   rcl_ret_t ret;
   rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
@@ -268,7 +255,7 @@ typedef std::function<
  * Extend the TestActionGraphFixture with a multi-node fixture for node discovery and node-graph
  * perspective.
  */
-class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION)
+class TestActionGraphMultiNodeFixture : public TestActionGraphFixture
 {
 public:
   const char * remote_node_name = "remote_graph_node";
@@ -279,7 +266,7 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,
 
   void SetUp() override
   {
-    CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::SetUp();
+    TestActionGraphFixture::SetUp();
 
     rcl_ret_t ret;
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
@@ -326,7 +313,7 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,
 
   void TearDown() override
   {
-    CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::TearDown();
+    TestActionGraphFixture::TearDown();
 
     rcl_ret_t ret;
     ret = rcl_node_fini(&this->remote_node);
@@ -395,7 +382,8 @@ class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture,
 };
 
 // Note, this test could be affected by other communication on the same ROS domain
-TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
+TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types)
+{
   rcl_ret_t ret;
   // Create an action client
   rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
@@ -472,7 +460,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
 }
 
 // Note, this test could be affected by other communication on the same ROS domain
-TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_by_node) {
+TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_by_node)
+{
   rcl_ret_t ret;
   // Create an action client
   rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
@@ -538,7 +527,8 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_b
 }
 
 // Note, this test could be affected by other communication on the same ROS domain
-TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_by_node) {
+TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_by_node)
+{
   rcl_ret_t ret;
   const rosidl_action_type_support_t * action_typesupport =
     ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);