address review comments

ros2 · Jun 12, 2018 · f280ce6 · f280ce6
1 parent 3a5db3a
commit f280ce6
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Showing 3 changed files with 18 additions and 14 deletions.
diff --git a/test_communication/CMakeLists.txt b/test_communication/CMakeLists.txt
@@ -311,17 +311,19 @@ if(BUILD_TESTING)
   endif()
 
   macro(serialize)
-      set(serialize_target_name "test_serialize${target}${target_suffix}")
-      ament_add_gtest(
+    set(serialize_target_name "test_serialize${target}${target_suffix}")
+    ament_add_gtest(
       ${serialize_target_name} test/test_message_serialization.cpp
       TIMEOUT 30
       ENV
       RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
-      RMW_IMPLEMENTATION=${rmw_implementation})
+      RMW_IMPLEMENTATION=${rmw_implementation}
+    )
     if(TARGET ${serialize_target_name})
       target_link_libraries(${serialize_target_name}
         ${_AMENT_EXPORT_ABSOLUTE_LIBRARIES}
-        ${_AMENT_EXPORT_LIBRARY_TARGETS})
+        ${_AMENT_EXPORT_LIBRARY_TARGETS}
+      )
       add_dependencies(${serialize_target_name} ${PROJECT_NAME})
       ament_target_dependencies(${serialize_target_name}
         "rmw"
@@ -338,17 +340,19 @@ if(BUILD_TESTING)
   endmacro()
 
   macro(pub_sub_raw)
-      set(target_name "test_publisher_subscriber_raw${target}${target_suffix}")
-      ament_add_gtest(
+    set(target_name "test_publisher_subscriber_raw${target}${target_suffix}")
+    ament_add_gtest(
       ${target_name} test/test_publisher_subscriber_raw.cpp
       TIMEOUT 30
       ENV
       RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
-      RMW_IMPLEMENTATION=${rmw_implementation})
+      RMW_IMPLEMENTATION=${rmw_implementation}
+    )
     if(TARGET ${target_name})
       target_link_libraries(${target_name}
         ${_AMENT_EXPORT_ABSOLUTE_LIBRARIES}
-        ${_AMENT_EXPORT_LIBRARY_TARGETS})
+        ${_AMENT_EXPORT_LIBRARY_TARGETS}
+      )
       add_dependencies(${target_name} ${PROJECT_NAME})
       ament_target_dependencies(${target_name}
         "rclcpp"

diff --git a/test_communication/test/test_message_serialization.cpp b/test_communication/test/test_message_serialization.cpp
@@ -98,15 +98,14 @@ TEST_F(CLASSNAME(TestMessageSerialization, RMW_IMPLEMENTATION), de_serialize_c)
   auto allocator = rcutils_get_default_allocator();
 
   auto raw_message_c = rmw_get_zero_initialized_raw_message();
-  rmw_initialize_raw_message(&raw_message_c, 0, &allocator);
+  rmw_raw_message_init(&raw_message_c, 0, &allocator);
 
   auto message_c_typesupport = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BoundedArrayNested);
   test_msgs__msg__BoundedArrayNested bounded_array_nested_msg_c;
   fill_c_message(&bounded_array_nested_msg_c);
 
   auto ret = RMW_RET_OK;
-  ret =
-    rmw_serialize(&bounded_array_nested_msg_c, message_c_typesupport, &raw_message_c);
+  ret = rmw_serialize(&bounded_array_nested_msg_c, message_c_typesupport, &raw_message_c);
   EXPECT_EQ(RMW_RET_OK, ret);
   EXPECT_EQ(76u, raw_message_c.buffer_length);  // measured from wireshark
 
@@ -142,7 +141,7 @@ TEST_F(CLASSNAME(TestMessageSerialization, RMW_IMPLEMENTATION), de_serialize_cpp
   auto allocator = rcutils_get_default_allocator();
 
   auto raw_message_cpp = rmw_get_zero_initialized_raw_message();
-  rmw_initialize_raw_message(&raw_message_cpp, 0, &allocator);
+  rmw_raw_message_init(&raw_message_cpp, 0, &allocator);
 
   auto message_cpp_typesupport =
     rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::BoundedArrayNested>();
@@ -184,10 +183,10 @@ TEST_F(CLASSNAME(TestMessageSerialization, RMW_IMPLEMENTATION), cdr_integrity) {
   auto allocator = rcutils_get_default_allocator();
 
   auto raw_message_c = rmw_get_zero_initialized_raw_message();
-  rmw_initialize_raw_message(&raw_message_c, 0, &allocator);
+  rmw_raw_message_init(&raw_message_c, 0, &allocator);
 
   auto raw_message_cpp = rmw_get_zero_initialized_raw_message();
-  rmw_initialize_raw_message(&raw_message_cpp, 0, &allocator);
+  rmw_raw_message_init(&raw_message_cpp, 0, &allocator);
 
   auto message_c_typesupport = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BoundedArrayNested);
   auto message_cpp_typesupport =

diff --git a/test_communication/test/test_publisher_subscriber_raw.cpp b/test_communication/test/test_publisher_subscriber_raw.cpp
@@ -78,4 +78,5 @@ TEST_F(CLASSNAME(TestMessageSerialization, RMW_IMPLEMENTATION), raw_callback) {
     rclcpp::spin_some(node);
     loop_rate.sleep();
   }
+  EXPECT_GT(counter, 0u);
 }