From f0f8cbc7fbe92f914a7dad87ce902b94df3ce742 Mon Sep 17 00:00:00 2001
From: Irene Bandera <irenebandera@eprosima.com>
Date: Wed, 15 Nov 2023 09:24:06 +0100
Subject: [PATCH] Fix test CI

Signed-off-by: Irene Bandera <irenebandera@eprosima.com>
---
 .../blackbox/mcap/McapFileCreationTest.cpp    | 72 +++++++++++--------
 1 file changed, 43 insertions(+), 29 deletions(-)

diff --git a/ddsrecorder/test/blackbox/mcap/McapFileCreationTest.cpp b/ddsrecorder/test/blackbox/mcap/McapFileCreationTest.cpp
index a73f90862..067691118 100644
--- a/ddsrecorder/test/blackbox/mcap/McapFileCreationTest.cpp
+++ b/ddsrecorder/test/blackbox/mcap/McapFileCreationTest.cpp
@@ -84,11 +84,11 @@ eprosima::fastrtps::types::DynamicType_ptr dynamic_type_;
 } // test
 
 std::unique_ptr<DdsRecorder> create_recorder(
-        std::string file_name,
-        int downsampling,
+        const std::string& file_name,
+        const int downsampling,
         DdsRecorderState recorder_state = DdsRecorderState::RUNNING,
-        unsigned int event_window = 20,
-        bool ros2_types = false)
+        const unsigned int event_window = 20,
+        const bool ros2_types = false)
 {
     YAML::Node yml;
 
@@ -110,10 +110,10 @@ std::unique_ptr<DdsRecorder> create_recorder(
         );
 }
 
-void create_publisher(
-        std::string topic_name,
-        std::string type_name,
-        unsigned int domain)
+eprosima::fastdds::dds::Publisher* create_publisher(
+        const std::string& topic_name,
+        const std::string& type_name,
+        const unsigned int domain)
 {
     eprosima::fastdds::dds::DomainParticipantQos pqos;
     pqos.name("TypeIntrospectionExample_Participant_Publisher");
@@ -147,11 +147,13 @@ void create_publisher(
 
     // Create the DDS DataWriter
     test::writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, nullptr);
+
+    return publisher_;
 }
 
 eprosima::fastrtps::types::DynamicData_ptr send_sample(
-        unsigned int index = 1,
-        unsigned int time_sleep = 100)
+        const unsigned int index = 1,
+        const unsigned int time_sleep = 100)
 {
     // Create and initialize new dynamic data
     eprosima::fastrtps::types::DynamicData_ptr dynamic_data_;
@@ -171,10 +173,10 @@ eprosima::fastrtps::types::DynamicData_ptr send_sample(
 }
 
 eprosima::fastrtps::types::DynamicData_ptr record(
-        std::string file_name,
-        unsigned int num_msgs = 1,
-        unsigned int downsampling = 1,
-        bool ros2_types = false)
+        const std::string& file_name,
+        const unsigned int num_msgs = 1,
+        const unsigned int downsampling = 1,
+        const bool ros2_types = false)
 {
     eprosima::fastrtps::types::DynamicData_ptr send_data;
 
@@ -182,10 +184,15 @@ eprosima::fastrtps::types::DynamicData_ptr record(
     auto recorder = create_recorder(file_name, downsampling, DdsRecorderState::RUNNING, 20, ros2_types);
 
     // Create Publisher
-    ros2_types ? create_publisher(test::ros2_topic_name, test::ros2_type_name, test::DOMAIN) : create_publisher(
-        test::dds_topic_name, test::dds_type_name, test::DOMAIN);
-
-
+    eprosima::fastdds::dds::Publisher* publisher;
+    if (ros2_types)
+    {
+        publisher = create_publisher(test::ros2_topic_name, test::ros2_type_name, test::DOMAIN);
+    }
+    else
+    {
+        publisher = create_publisher(test::dds_topic_name, test::dds_type_name, test::DOMAIN);
+    }
 
     // Send data
     for (unsigned int i = 0; i < num_msgs; i++)
@@ -197,7 +204,7 @@ eprosima::fastrtps::types::DynamicData_ptr record(
 }
 
 mcap::LinearMessageView get_msgs_mcap(
-        std::string file_name,
+        const std::string& file_name,
         mcap::McapReader& mcap_reader_)
 {
     auto status = mcap_reader_.open(file_name);
@@ -208,22 +215,29 @@ mcap::LinearMessageView get_msgs_mcap(
 }
 
 std::tuple<unsigned int, double> record_with_transitions(
-        std::string file_name,
+        const std::string& file_name,
         DdsRecorderState init_state,
-        unsigned int first_round,
-        unsigned int secound_round,
+        const unsigned int first_round,
+        const unsigned int secound_round,
         DdsRecorderState current_state,
         EventKind event = EventKind::NO_EVENT,
-        unsigned int event_window = 20,
+        const unsigned int event_window = 20,
         unsigned int time_sleep = 0,
-        unsigned int downsampling = 1,
-        bool ros2_types = false)
+        const unsigned int downsampling = 1,
+        const bool ros2_types = false)
 {
     uint64_t current_time;
     {
         // Create Publisher
-        ros2_types ? create_publisher(test::ros2_topic_name, test::ros2_type_name, test::DOMAIN) : create_publisher(
-            test::dds_topic_name, test::dds_type_name, test::DOMAIN);
+        eprosima::fastdds::dds::Publisher* publisher;
+        if (ros2_types)
+        {
+            publisher = create_publisher(test::ros2_topic_name, test::ros2_type_name, test::DOMAIN);
+        }
+        else
+        {
+            publisher = create_publisher(test::dds_topic_name, test::dds_type_name, test::DOMAIN);
+        }
 
         // Create Recorder
         std::unique_ptr<DdsRecorder> recorder =
@@ -342,7 +356,7 @@ TEST(McapFileCreationTest, mcap_data_msgs)
 TEST(McapFileCreationTest, mcap_dds_topic)
 {
 
-    std::string file_name = "output_mcap_data_topic.mcap";
+    std::string file_name = "output_mcap_dds_topic.mcap";
 
     record(file_name);
 
@@ -368,7 +382,7 @@ TEST(McapFileCreationTest, mcap_dds_topic)
 TEST(McapFileCreationTest, mcap_ros2_topic)
 {
 
-    std::string file_name = "output_mcap_data_topic.mcap";
+    std::string file_name = "output_mcap_ros2_topic.mcap";
 
     record(file_name, 1, 1, true);