Add basic unit tests for refactored functions in rcl_yaml_param_parser (coverage part 1/3) (#771)
* Add basic unit tests for refactored functions Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Fix memory errors Signed-off-by: Stephen Brawner <brawner@gmail.com> * headers moved Signed-off-by: Stephen Brawner <brawner@gmail.com> * Addressing feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Switch to decltype Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner
Alejandro Hernández Cordero
parent
a34c4816c9
commit
79e2e044d3
5 changed files with 827 additions and 0 deletions
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@ -63,6 +63,30 @@ if(BUILD_TESTING)
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performance_test_fixture::performance_test_fixture INTERFACE_INCLUDE_DIRECTORIES)
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performance_test_fixture::performance_test_fixture INTERFACE_INCLUDE_DIRECTORIES)
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# Gtests
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# Gtests
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ament_add_gtest(test_namespace
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test/test_namespace.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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)
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if(TARGET test_namespace)
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ament_target_dependencies(test_namespace
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"rcutils"
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"osrf_testing_tools_cpp"
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)
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target_link_libraries(test_namespace ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_node_params
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test/test_node_params.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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)
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if(TARGET test_node_params)
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ament_target_dependencies(test_node_params
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"rcutils"
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"osrf_testing_tools_cpp"
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)
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target_link_libraries(test_node_params ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_parse_yaml
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ament_add_gtest(test_parse_yaml
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test/test_parse_yaml.cpp
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test/test_parse_yaml.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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@ -73,6 +97,18 @@ if(BUILD_TESTING)
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PRIVATE ${osrf_testing_tools_cpp_INCLUDE_DIRS})
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PRIVATE ${osrf_testing_tools_cpp_INCLUDE_DIRS})
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endif()
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endif()
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ament_add_gtest(test_parse
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test/test_parse.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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)
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if(TARGET test_parse)
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ament_target_dependencies(test_parse
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"rcutils"
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"osrf_testing_tools_cpp"
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)
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target_link_libraries(test_parse ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_parser
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ament_add_gtest(test_parser
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test/test_parser.cpp
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test/test_parser.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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@ -94,6 +130,17 @@ if(BUILD_TESTING)
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"rcutils"
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"rcutils"
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)
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)
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endif()
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endif()
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ament_add_gtest(test_yaml_variant
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test/test_yaml_variant.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
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)
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if(TARGET test_yaml_variant)
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ament_target_dependencies(test_yaml_variant
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"rcutils"
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"osrf_testing_tools_cpp"
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)
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target_link_libraries(test_yaml_variant ${PROJECT_NAME})
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endif()
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endif()
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endif()
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ament_export_dependencies(ament_cmake libyaml_vendor)
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ament_export_dependencies(ament_cmake libyaml_vendor)
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106
rcl_yaml_param_parser/test/test_namespace.cpp
Normal file
106
rcl_yaml_param_parser/test/test_namespace.cpp
Normal file
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@ -0,0 +1,106 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <yaml.h>
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#include <string>
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#include <vector>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "rcl_yaml_param_parser/parser.h"
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#include "../src/impl/namespace.h"
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#include "rcutils/allocator.h"
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#include "rcutils/strdup.h"
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TEST(TestNamespace, add_name_to_ns) {
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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namespace_tracker_t ns_tracker;
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ns_tracker.node_ns = nullptr;
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ns_tracker.parameter_ns = nullptr;
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ns_tracker.num_node_ns = 0;
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ns_tracker.num_parameter_ns = 0;
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rcutils_ret_t ret = add_name_to_ns(&ns_tracker, nullptr, NS_TYPE_NODE, allocator);
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EXPECT_EQ(RCUTILS_RET_INVALID_ARGUMENT, ret) << rcutils_get_error_string().str;
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EXPECT_EQ(nullptr, ns_tracker.node_ns);
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ret = add_name_to_ns(&ns_tracker, "node1", NS_TYPE_NODE, allocator);
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EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
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EXPECT_STREQ("node1", ns_tracker.node_ns);
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EXPECT_EQ(1u, ns_tracker.num_node_ns);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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allocator.deallocate(ns_tracker.node_ns, allocator.state);
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});
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ret = add_name_to_ns(&ns_tracker, "node2", NS_TYPE_NODE, allocator);
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EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
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EXPECT_STREQ("node1/node2", ns_tracker.node_ns);
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EXPECT_EQ(2u, ns_tracker.num_node_ns);
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ret = add_name_to_ns(&ns_tracker, "param1", NS_TYPE_PARAM, allocator);
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EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
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EXPECT_STREQ("param1", ns_tracker.parameter_ns);
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EXPECT_EQ(1u, ns_tracker.num_parameter_ns);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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allocator.deallocate(ns_tracker.parameter_ns, allocator.state);
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});
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ret = add_name_to_ns(&ns_tracker, "param2", NS_TYPE_PARAM, allocator);
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EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
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EXPECT_STREQ("param1.param2", ns_tracker.parameter_ns);
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EXPECT_EQ(2u, ns_tracker.num_parameter_ns);
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}
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TEST(TestNamespace, replace_ns) {
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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namespace_tracker_t ns_tracker;
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ns_tracker.node_ns = rcutils_strdup("initial_node1/initial_node2", allocator);
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ASSERT_STREQ("initial_node1/initial_node2", ns_tracker.node_ns);
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ns_tracker.parameter_ns = rcutils_strdup("initial_param1.initial_param2", allocator);
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ASSERT_STREQ("initial_param1.initial_param2", ns_tracker.parameter_ns);
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ns_tracker.num_node_ns = 2;
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ns_tracker.num_parameter_ns = 2;
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char * expected_ns = rcutils_strdup("new_ns1/new_ns2/new_ns3", allocator);
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ASSERT_STREQ("new_ns1/new_ns2/new_ns3", expected_ns);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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allocator.deallocate(ns_tracker.node_ns, allocator.state);
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allocator.deallocate(ns_tracker.parameter_ns, allocator.state);
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allocator.deallocate(expected_ns, allocator.state);
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});
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rcutils_ret_t ret =
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replace_ns(&ns_tracker, expected_ns, 3, NS_TYPE_NODE, allocator);
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EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
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EXPECT_STREQ(expected_ns, ns_tracker.node_ns);
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EXPECT_EQ(3u, ns_tracker.num_node_ns);
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char * expected_param_ns =
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rcutils_strdup("new_param1.new_param2.new_param3", allocator);
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ASSERT_STREQ("new_param1.new_param2.new_param3", expected_param_ns);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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allocator.deallocate(expected_param_ns, allocator.state);
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});
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ret = replace_ns(&ns_tracker, expected_param_ns, 3, NS_TYPE_PARAM, allocator);
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EXPECT_EQ(RCUTILS_RET_OK, ret) << rcutils_get_error_string().str;
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EXPECT_STREQ(expected_param_ns, ns_tracker.parameter_ns);
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EXPECT_EQ(3u, ns_tracker.num_parameter_ns);
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}
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42
rcl_yaml_param_parser/test/test_node_params.cpp
Normal file
42
rcl_yaml_param_parser/test/test_node_params.cpp
Normal file
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@ -0,0 +1,42 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <yaml.h>
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#include <string>
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#include <vector>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "rcl_yaml_param_parser/parser.h"
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#include "../src/impl/node_params.h"
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#include "rcutils/allocator.h"
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TEST(TestNodeParams, init_fini) {
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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rcl_node_params_t node_params = {NULL, NULL, 0u};
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EXPECT_EQ(RCUTILS_RET_OK, node_params_init(&node_params, allocator));
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EXPECT_NE(nullptr, node_params.parameter_names);
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EXPECT_NE(nullptr, node_params.parameter_values);
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EXPECT_EQ(0u, node_params.num_params);
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rcl_yaml_node_params_fini(&node_params, allocator);
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EXPECT_EQ(nullptr, node_params.parameter_names);
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EXPECT_EQ(nullptr, node_params.parameter_values);
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EXPECT_EQ(0u, node_params.num_params);
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// This function doesn't return anything, so just check it doesn't segfault on the second try
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rcl_yaml_node_params_fini(&node_params, allocator);
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rcl_yaml_node_params_fini(nullptr, allocator);
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}
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448
rcl_yaml_param_parser/test/test_parse.cpp
Normal file
448
rcl_yaml_param_parser/test/test_parse.cpp
Normal file
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@ -0,0 +1,448 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <yaml.h>
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#include <string>
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#include <vector>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "rcl_yaml_param_parser/parser.h"
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#include "../src/impl/parse.h"
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#include "../src/impl/node_params.h"
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#include "rcutils/filesystem.h"
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TEST(TestParse, parse_value) {
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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yaml_event_t event;
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event.type = YAML_NO_EVENT;
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event.start_mark = {0u, 0u, 0u};
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event.data.scalar = {NULL, NULL, NULL, 1u, 0, 0, YAML_ANY_SCALAR_STYLE};
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bool is_seq = false;
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size_t node_idx = 0u;
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size_t parameter_idx = 0u;
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data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
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rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
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ASSERT_NE(nullptr, params_st);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_node_struct_fini(params_st);
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});
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ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
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params_st->num_nodes = 1u;
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// bool value
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yaml_char_t bool_value[] = "true";
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const size_t bool_value_length = sizeof(bool_value) / sizeof(bool_value[0]);
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event.data.scalar.value = bool_value;
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event.data.scalar.length = bool_value_length;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].bool_value);
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EXPECT_TRUE(*params_st->params[node_idx].parameter_values[parameter_idx].bool_value);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].bool_value, allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].bool_value = nullptr;
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// integer value
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yaml_char_t integer_value[] = "42";
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const size_t integer_value_length = sizeof(integer_value) / sizeof(integer_value[0]);
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event.data.scalar.value = integer_value;
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event.data.scalar.length = integer_value_length;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_value);
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EXPECT_EQ(42, *params_st->params[node_idx].parameter_values[parameter_idx].integer_value);
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allocator.deallocate(
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params_st->params[node_idx].parameter_values[parameter_idx].integer_value, allocator.state);
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params_st->params[node_idx].parameter_values[parameter_idx].integer_value = nullptr;
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// double value
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yaml_char_t double_value[] = "3.14159";
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const size_t double_value_length = sizeof(double_value) / sizeof(double_value[0]);
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event.data.scalar.value = double_value;
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event.data.scalar.length = double_value_length;
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EXPECT_EQ(
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RCUTILS_RET_OK,
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parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
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rcutils_get_error_string().str;
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ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].double_value);
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EXPECT_EQ(3.14159, *params_st->params[node_idx].parameter_values[parameter_idx].double_value);
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||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].double_value, allocator.state);
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].double_value = nullptr;
|
||||||
|
|
||||||
|
// double value
|
||||||
|
yaml_char_t string_value[] = "hello, I am a string";
|
||||||
|
const size_t string_value_length = sizeof(string_value) / sizeof(string_value[0]);
|
||||||
|
event.data.scalar.value = string_value;
|
||||||
|
event.data.scalar.length = string_value_length;
|
||||||
|
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_OK,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
ASSERT_NE(nullptr, params_st->params[node_idx].parameter_values[parameter_idx].string_value);
|
||||||
|
EXPECT_STREQ(
|
||||||
|
"hello, I am a string",
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].string_value);
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].string_value, allocator.state);
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].string_value = nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestParse, parse_value_sequence) {
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
||||||
|
yaml_event_t event;
|
||||||
|
event.type = YAML_NO_EVENT;
|
||||||
|
event.start_mark = {0u, 0u, 0u};
|
||||||
|
event.data.scalar = {NULL, NULL, NULL, 1u, 0, 0, YAML_ANY_SCALAR_STYLE};
|
||||||
|
|
||||||
|
bool is_seq = true;
|
||||||
|
size_t node_idx = 0u;
|
||||||
|
size_t parameter_idx = 0u;
|
||||||
|
data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
|
||||||
|
rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
|
||||||
|
ASSERT_NE(nullptr, params_st);
|
||||||
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
|
||||||
|
{
|
||||||
|
rcl_yaml_node_struct_fini(params_st);
|
||||||
|
});
|
||||||
|
|
||||||
|
ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
|
||||||
|
params_st->num_nodes = 1u;
|
||||||
|
|
||||||
|
// bool array value
|
||||||
|
yaml_char_t bool_value[] = "true";
|
||||||
|
const size_t bool_value_length = sizeof(bool_value) / sizeof(bool_value[0]);
|
||||||
|
event.data.scalar.value = bool_value;
|
||||||
|
event.data.scalar.length = bool_value_length;
|
||||||
|
|
||||||
|
// Check bad sequence type for bool
|
||||||
|
seq_data_type = DATA_TYPE_STRING;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_EQ(
|
||||||
|
nullptr,
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
|
||||||
|
|
||||||
|
// Check proper sequence type
|
||||||
|
seq_data_type = DATA_TYPE_UNKNOWN;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_OK,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
ASSERT_NE(
|
||||||
|
nullptr, params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value);
|
||||||
|
EXPECT_TRUE(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value->values[0]);
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value->values,
|
||||||
|
allocator.state);
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value, allocator.state);
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].bool_array_value = nullptr;
|
||||||
|
|
||||||
|
// integer array value
|
||||||
|
yaml_char_t integer_value[] = "42";
|
||||||
|
const size_t integer_value_length = sizeof(integer_value) / sizeof(integer_value[0]);
|
||||||
|
event.data.scalar.value = integer_value;
|
||||||
|
event.data.scalar.length = integer_value_length;
|
||||||
|
|
||||||
|
// Check bad sequence type for int
|
||||||
|
seq_data_type = DATA_TYPE_STRING;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_EQ(
|
||||||
|
nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
|
||||||
|
|
||||||
|
// Check proper sequence type
|
||||||
|
seq_data_type = DATA_TYPE_UNKNOWN;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_OK,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
ASSERT_NE(
|
||||||
|
nullptr,
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
|
||||||
|
EXPECT_EQ(
|
||||||
|
42,
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value->values[0]);
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value->values,
|
||||||
|
allocator.state);
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value,
|
||||||
|
allocator.state);
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value = nullptr;
|
||||||
|
|
||||||
|
// double value
|
||||||
|
yaml_char_t double_value[] = "3.14159";
|
||||||
|
const size_t double_value_length = sizeof(double_value) / sizeof(double_value[0]);
|
||||||
|
event.data.scalar.value = double_value;
|
||||||
|
event.data.scalar.length = double_value_length;
|
||||||
|
|
||||||
|
// Check bad sequence type for double
|
||||||
|
seq_data_type = DATA_TYPE_STRING;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_EQ(
|
||||||
|
nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
|
||||||
|
|
||||||
|
// Check proper sequence type
|
||||||
|
seq_data_type = DATA_TYPE_UNKNOWN;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_OK,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
ASSERT_NE(
|
||||||
|
nullptr, params_st->params[node_idx].parameter_values[parameter_idx].double_array_value);
|
||||||
|
EXPECT_EQ(
|
||||||
|
3.14159,
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].double_array_value->values[0]);
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].double_array_value->values,
|
||||||
|
allocator.state);
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].double_array_value,
|
||||||
|
allocator.state);
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].double_array_value = nullptr;
|
||||||
|
|
||||||
|
// double value
|
||||||
|
yaml_char_t string_value[] = "hello, I am a string";
|
||||||
|
const size_t string_value_length = sizeof(string_value) / sizeof(string_value[0]);
|
||||||
|
event.data.scalar.value = string_value;
|
||||||
|
event.data.scalar.length = string_value_length;
|
||||||
|
|
||||||
|
// Check bad sequence type for string
|
||||||
|
seq_data_type = DATA_TYPE_BOOL;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_EQ(
|
||||||
|
nullptr, params_st->params[node_idx].parameter_values[parameter_idx].integer_array_value);
|
||||||
|
|
||||||
|
// Check proper sequence type
|
||||||
|
seq_data_type = DATA_TYPE_UNKNOWN;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_OK,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
ASSERT_NE(
|
||||||
|
nullptr, params_st->params[node_idx].parameter_values[parameter_idx].string_array_value);
|
||||||
|
EXPECT_STREQ(
|
||||||
|
"hello, I am a string",
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].string_array_value->data[0]);
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_OK,
|
||||||
|
rcutils_string_array_fini(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].string_array_value)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
allocator.deallocate(
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].string_array_value,
|
||||||
|
allocator.state);
|
||||||
|
params_st->params[node_idx].parameter_values[parameter_idx].string_array_value = nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestParse, parse_value_bad_args) {
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
||||||
|
yaml_event_t event;
|
||||||
|
event.type = YAML_NO_EVENT;
|
||||||
|
event.start_mark = {0u, 0u, 0u};
|
||||||
|
event.data.scalar = {NULL, NULL, NULL, 1u, 0, 0, YAML_ANY_SCALAR_STYLE};
|
||||||
|
|
||||||
|
bool is_seq = false;
|
||||||
|
size_t node_idx = 0u;
|
||||||
|
size_t parameter_idx = 0u;
|
||||||
|
data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
|
||||||
|
rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
|
||||||
|
ASSERT_NE(nullptr, params_st);
|
||||||
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
|
||||||
|
{
|
||||||
|
rcl_yaml_node_struct_fini(params_st);
|
||||||
|
});
|
||||||
|
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, nullptr, params_st));
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, nullptr));
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
// No node to update
|
||||||
|
const size_t num_nodes = params_st->num_nodes;
|
||||||
|
params_st->num_nodes = 0u;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st));
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
params_st->num_nodes = num_nodes;
|
||||||
|
|
||||||
|
ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
|
||||||
|
params_st->num_nodes = 1u;
|
||||||
|
|
||||||
|
// event.data.scalar.value is NULL, but event.data.scalar.length > 0
|
||||||
|
event.data.scalar.value = NULL;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st));
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
// event.data.scalar.length is 0 and style is not a QUOTED_SCALAR_STYLE
|
||||||
|
event.data.scalar.length = 0u;
|
||||||
|
yaml_char_t event_value[] = "non_empty_string";
|
||||||
|
const size_t event_value_length = sizeof(event_value) / sizeof(event_value[0]);
|
||||||
|
event.data.scalar.value = event_value;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
// parameter_values is NULL
|
||||||
|
event.data.scalar.length = event_value_length;
|
||||||
|
rcl_variant_t * tmp_variant_array = params_st->params[0].parameter_values;
|
||||||
|
params_st->params[0].parameter_values = NULL;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_BAD_ALLOC,
|
||||||
|
parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
params_st->params[0].parameter_values = tmp_variant_array;
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestParse, parse_key_bad_args)
|
||||||
|
{
|
||||||
|
yaml_event_t event;
|
||||||
|
event.type = YAML_NO_EVENT;
|
||||||
|
event.start_mark = {0u, 0u, 0u};
|
||||||
|
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
||||||
|
uint32_t map_level = MAP_NODE_NAME_LVL;
|
||||||
|
bool is_new_map = false;
|
||||||
|
size_t node_idx = 0;
|
||||||
|
size_t parameter_idx = 0;
|
||||||
|
namespace_tracker_t ns_tracker;
|
||||||
|
|
||||||
|
rcl_params_t * params_st = rcl_yaml_node_struct_init(allocator);
|
||||||
|
ASSERT_NE(nullptr, params_st);
|
||||||
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
|
||||||
|
{
|
||||||
|
rcl_yaml_node_struct_fini(params_st);
|
||||||
|
});
|
||||||
|
|
||||||
|
ASSERT_EQ(RCUTILS_RET_OK, node_params_init(¶ms_st->params[0], allocator));
|
||||||
|
params_st->num_nodes = 1u;
|
||||||
|
|
||||||
|
// map_level is nullptr
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||||||
|
parse_key(event, nullptr, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
// params_st is nullptr
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||||||
|
parse_key(event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, nullptr)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
// event.data.scalar.value is nullptr
|
||||||
|
event.data.scalar.value = nullptr;
|
||||||
|
event.data.scalar.length = 1u;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_INVALID_ARGUMENT,
|
||||||
|
parse_key(
|
||||||
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
yaml_char_t string_value[] = "key_name";
|
||||||
|
const size_t string_value_length = sizeof(string_value) / sizeof(string_value[0]);
|
||||||
|
|
||||||
|
// event.data.scalar.length is 0
|
||||||
|
event.data.scalar.value = string_value;
|
||||||
|
event.data.scalar.length = 0u;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_key(
|
||||||
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
event.data.scalar.length = string_value_length;
|
||||||
|
|
||||||
|
// map_level is MAP_UNINIT_LVL
|
||||||
|
map_level = MAP_UNINIT_LVL;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_key(
|
||||||
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
// map_level is not a valid value
|
||||||
|
map_level = 42;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_key(
|
||||||
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
|
||||||
|
// previous parameter names required for parameter namespace
|
||||||
|
map_level = MAP_PARAMS_LVL;
|
||||||
|
is_new_map = true;
|
||||||
|
params_st->params[0].parameter_names[0] = nullptr;
|
||||||
|
EXPECT_EQ(
|
||||||
|
RCUTILS_RET_ERROR,
|
||||||
|
parse_key(
|
||||||
|
event, &map_level, &is_new_map, &node_idx, ¶meter_idx, &ns_tracker, params_st)) <<
|
||||||
|
rcutils_get_error_string().str;
|
||||||
|
EXPECT_TRUE(rcutils_error_is_set());
|
||||||
|
rcutils_reset_error();
|
||||||
|
}
|
||||||
184
rcl_yaml_param_parser/test/test_yaml_variant.cpp
Normal file
184
rcl_yaml_param_parser/test/test_yaml_variant.cpp
Normal file
|
|
@ -0,0 +1,184 @@
|
||||||
|
// Copyright 2020 Open Source Robotics Foundation, Inc.
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
|
||||||
|
#include <gtest/gtest.h>
|
||||||
|
|
||||||
|
#include <yaml.h>
|
||||||
|
|
||||||
|
#include <string>
|
||||||
|
#include <vector>
|
||||||
|
|
||||||
|
#include "osrf_testing_tools_cpp/scope_exit.hpp"
|
||||||
|
#include "rcl_yaml_param_parser/parser.h"
|
||||||
|
#include "../src/impl/yaml_variant.h"
|
||||||
|
#include "rcutils/allocator.h"
|
||||||
|
#include "rcutils/strdup.h"
|
||||||
|
#include "rcutils/testing/fault_injection.h"
|
||||||
|
|
||||||
|
#define TEST_VARIANT_COPY(field, tmp_var) \
|
||||||
|
do { \
|
||||||
|
SCOPED_TRACE("TEST_VARIANT_COPY " #field); \
|
||||||
|
rcl_variant_t src_variant{}; \
|
||||||
|
rcl_variant_t dest_variant{}; \
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator(); \
|
||||||
|
src_variant.field = &tmp_var; \
|
||||||
|
EXPECT_TRUE(rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)); \
|
||||||
|
ASSERT_NE(nullptr, dest_variant.field); \
|
||||||
|
EXPECT_EQ(*src_variant.field, *dest_variant.field); \
|
||||||
|
rcl_yaml_variant_fini(&dest_variant, allocator); \
|
||||||
|
src_variant.field = nullptr; \
|
||||||
|
} while (0)
|
||||||
|
|
||||||
|
#define TEST_VARIANT_ARRAY_COPY(field, tmp_array) \
|
||||||
|
do { \
|
||||||
|
SCOPED_TRACE("TEST_VARIANT_ARRAY_COPY " #field); \
|
||||||
|
constexpr size_t array_size = sizeof(tmp_array) / sizeof(tmp_array[0]); \
|
||||||
|
rcl_variant_t src_variant{}; \
|
||||||
|
rcl_variant_t dest_variant{}; \
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator(); \
|
||||||
|
using ArrayT = std::remove_pointer<decltype(src_variant.field)>::type; \
|
||||||
|
src_variant.field = \
|
||||||
|
static_cast<ArrayT *>(allocator.allocate(sizeof(ArrayT), allocator.state)); \
|
||||||
|
ASSERT_NE(nullptr, src_variant.field); \
|
||||||
|
using ValueT = std::remove_pointer<decltype(src_variant.field->values)>::type; \
|
||||||
|
src_variant.field->values = \
|
||||||
|
static_cast<ValueT *>( \
|
||||||
|
allocator.zero_allocate(array_size, sizeof(ValueT), allocator.state)); \
|
||||||
|
ASSERT_NE(nullptr, src_variant.field->values); \
|
||||||
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( \
|
||||||
|
{ \
|
||||||
|
rcl_yaml_variant_fini(&src_variant, allocator); \
|
||||||
|
rcl_yaml_variant_fini(&dest_variant, allocator); \
|
||||||
|
src_variant.field = nullptr; \
|
||||||
|
dest_variant.field = nullptr; \
|
||||||
|
}); \
|
||||||
|
src_variant.field->size = array_size; \
|
||||||
|
for (size_t i = 0; i < array_size; ++i) { \
|
||||||
|
src_variant.field->values[i] = tmp_array[i]; \
|
||||||
|
} \
|
||||||
|
EXPECT_TRUE(rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)); \
|
||||||
|
ASSERT_NE(nullptr, dest_variant.field); \
|
||||||
|
ASSERT_NE(nullptr, dest_variant.field->values); \
|
||||||
|
for (size_t i = 0; i < array_size; ++i) { \
|
||||||
|
SCOPED_TRACE(i); \
|
||||||
|
EXPECT_EQ(src_variant.field->values[i], dest_variant.field->values[i]); \
|
||||||
|
} \
|
||||||
|
} while (0)
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_fini) {
|
||||||
|
rcl_variant_t variant{};
|
||||||
|
rcl_variant_t copy{};
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
||||||
|
|
||||||
|
EXPECT_FALSE(rcl_yaml_variant_copy(nullptr, &variant, allocator));
|
||||||
|
EXPECT_FALSE(rcl_yaml_variant_copy(©, nullptr, allocator));
|
||||||
|
|
||||||
|
ASSERT_TRUE(rcl_yaml_variant_copy(©, &variant, allocator));
|
||||||
|
|
||||||
|
rcl_yaml_variant_fini(©, allocator);
|
||||||
|
|
||||||
|
// Check second fini works fine
|
||||||
|
rcl_yaml_variant_fini(©, allocator);
|
||||||
|
|
||||||
|
// Check fini with a nullptr doesn't crash.
|
||||||
|
rcl_yaml_variant_fini(nullptr, allocator);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_bool_value) {
|
||||||
|
bool tmp_bool = true;
|
||||||
|
TEST_VARIANT_COPY(bool_value, tmp_bool);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_integer_value) {
|
||||||
|
int64_t tmp_int = 42;
|
||||||
|
TEST_VARIANT_COPY(integer_value, tmp_int);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_double_value) {
|
||||||
|
double tmp_double = 3.14159;
|
||||||
|
TEST_VARIANT_COPY(double_value, tmp_double);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_string_value) {
|
||||||
|
// String version is slightly different and can't use the above macro
|
||||||
|
rcl_variant_t src_variant{};
|
||||||
|
rcl_variant_t dest_variant{};
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
||||||
|
|
||||||
|
char * tmp_string = rcutils_strdup("hello there", allocator);
|
||||||
|
ASSERT_STREQ("hello there", tmp_string);
|
||||||
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
|
||||||
|
{
|
||||||
|
allocator.deallocate(tmp_string, allocator.state);
|
||||||
|
});
|
||||||
|
src_variant.string_value = tmp_string;
|
||||||
|
EXPECT_TRUE(rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator));
|
||||||
|
ASSERT_NE(nullptr, dest_variant.string_value);
|
||||||
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
|
||||||
|
{
|
||||||
|
rcl_yaml_variant_fini(&dest_variant, allocator);
|
||||||
|
});
|
||||||
|
EXPECT_STREQ(tmp_string, dest_variant.string_value);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_bool_array_values) {
|
||||||
|
constexpr bool bool_arry[] = {true, false, true};
|
||||||
|
TEST_VARIANT_ARRAY_COPY(bool_array_value, bool_arry);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_integer_array_values) {
|
||||||
|
constexpr int64_t int_arry[] = {1, 2, 3};
|
||||||
|
TEST_VARIANT_ARRAY_COPY(integer_array_value, int_arry);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_double_array_values) {
|
||||||
|
constexpr double double_arry[] = {10.0, 11.0, 12.0};
|
||||||
|
TEST_VARIANT_ARRAY_COPY(double_array_value, double_arry);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(TestYamlVariant, copy_string_array_values) {
|
||||||
|
// Strings just have to be different
|
||||||
|
rcl_variant_t src_variant{};
|
||||||
|
rcl_variant_t dest_variant{};
|
||||||
|
rcutils_allocator_t allocator = rcutils_get_default_allocator();
|
||||||
|
|
||||||
|
constexpr size_t size = 3u;
|
||||||
|
src_variant.string_array_value =
|
||||||
|
static_cast<rcutils_string_array_t *>(
|
||||||
|
allocator.allocate(sizeof(rcutils_string_array_t), allocator.state));
|
||||||
|
ASSERT_NE(nullptr, src_variant.string_array_value);
|
||||||
|
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
|
||||||
|
{
|
||||||
|
rcl_yaml_variant_fini(&src_variant, allocator);
|
||||||
|
rcl_yaml_variant_fini(&dest_variant, allocator);
|
||||||
|
});
|
||||||
|
*src_variant.string_array_value = rcutils_get_zero_initialized_string_array();
|
||||||
|
ASSERT_EQ(
|
||||||
|
RCUTILS_RET_OK, rcutils_string_array_init(src_variant.string_array_value, size, &allocator));
|
||||||
|
src_variant.string_array_value->size = size;
|
||||||
|
src_variant.string_array_value->data[0] = rcutils_strdup("string1", allocator);
|
||||||
|
src_variant.string_array_value->data[1] = rcutils_strdup("string2", allocator);
|
||||||
|
src_variant.string_array_value->data[2] = rcutils_strdup("string3", allocator);
|
||||||
|
for (size_t i = 0; i < size; ++i) {
|
||||||
|
ASSERT_NE(nullptr, src_variant.string_array_value->data[i]);
|
||||||
|
}
|
||||||
|
EXPECT_TRUE(rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator));
|
||||||
|
ASSERT_NE(nullptr, dest_variant.string_array_value);
|
||||||
|
ASSERT_NE(nullptr, dest_variant.string_array_value->data);
|
||||||
|
for (size_t i = 0; i < size; ++i) {
|
||||||
|
SCOPED_TRACE(i);
|
||||||
|
EXPECT_STREQ(
|
||||||
|
src_variant.string_array_value->data[i], dest_variant.string_array_value->data[i]);
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Add table
Add a link
Reference in a new issue