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Adjust test_static_executor_entities_collector for rmw_connext_cpp #1251

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Merged
brawner merged 1 commit into from
Jul 31, 2020
Merged

Adjust test_static_executor_entities_collector for rmw_connext_cpp #1251

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6 changes: 5 additions & 1 deletion rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -227,7 +227,7 @@ class TestWaitable : public rclcpp::Waitable

TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
auto node = std::make_shared<rclcpp::Node>("node", "ns");
const auto expected_number_of_entities = get_number_of_default_entities(node);
auto expected_number_of_entities = get_number_of_default_entities(node);
EXPECT_NE(nullptr, expected_number_of_entities);

// Create 1 of each entity type
Expand All @@ -244,6 +244,10 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
test_msgs::srv::Empty::Response::SharedPtr) {});
auto client = node->create_client<test_msgs::srv::Empty>("service");
auto waitable = std::make_shared<TestWaitable>();

// Adding a subscription with rmw_connext_cpp adds another waitable, so we need to get the
// current number of waitables just before adding the new waitable.
expected_number_of_entities->waitables = get_number_of_default_entities(node)->waitables;
node->get_node_waitables_interface()->add_waitable(waitable, nullptr);

entities_collector_->add_node(node->get_node_base_interface());
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