130 lines
4.3 KiB
C++
130 lines
4.3 KiB
C++
// Copyright 2018 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 <iostream>
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#include "rcl_action/names.h"
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#include "rcl/allocator.h"
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#include "rcl/types.h"
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struct ActionDerivedNameTestSubject
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{
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const char * action_name;
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const char * expected_action_derived_name;
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rcl_ret_t (* get_action_derived_name)(const char *, rcl_allocator_t, char **);
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const char * subject_name;
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};
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std::ostream & operator<<(std::ostream & os, const ActionDerivedNameTestSubject & test_subject)
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{
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return os << test_subject.subject_name;
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}
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class TestActionDerivedName
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: public ::testing::TestWithParam<ActionDerivedNameTestSubject>
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{
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protected:
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void SetUp() override
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{
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test_subject = GetParam();
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}
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ActionDerivedNameTestSubject test_subject;
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};
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TEST_P(TestActionDerivedName, validate_action_derived_getter)
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{
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rcl_ret_t ret;
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char dummy_char;
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char * action_derived_name;
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rcl_allocator_t default_allocator =
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rcl_get_default_allocator();
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action_derived_name = NULL;
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const char * const invalid_action_name = NULL;
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ret = test_subject.get_action_derived_name(
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invalid_action_name, default_allocator,
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&action_derived_name);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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action_derived_name = NULL;
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rcl_allocator_t invalid_allocator =
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(rcl_allocator_t)rcutils_get_zero_initialized_allocator();
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ret = test_subject.get_action_derived_name(
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test_subject.action_name, invalid_allocator,
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&action_derived_name);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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action_derived_name = NULL;
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char ** invalid_ptr_to_action_derived_name = NULL;
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ret = test_subject.get_action_derived_name(
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test_subject.action_name, default_allocator,
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invalid_ptr_to_action_derived_name);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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action_derived_name = &dummy_char;
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ret = test_subject.get_action_derived_name(
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test_subject.action_name, default_allocator,
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&action_derived_name);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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action_derived_name = NULL;
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ret = test_subject.get_action_derived_name(
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test_subject.action_name, default_allocator,
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&action_derived_name);
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ASSERT_EQ(RCL_RET_OK, ret);
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EXPECT_STREQ(test_subject.expected_action_derived_name, action_derived_name);
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default_allocator.deallocate(action_derived_name, default_allocator.state);
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}
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const ActionDerivedNameTestSubject action_service_and_topic_subjects[] = {
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{
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"test_it", // action_name
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"test_it/_action/send_goal", // expected_action_derived_name
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rcl_action_get_goal_service_name, // get_action_derived_name
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"goal_service_name_test" // subject_name
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},
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{
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"test_it", // action_name
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"test_it/_action/cancel_goal", // expected_action_derived_name
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rcl_action_get_cancel_service_name, // get_action_derived_name
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"cancel_service_name_test" // subject_name
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},
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{
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"test_it", // action_name
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"test_it/_action/get_result", // expected_action_derived_name
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rcl_action_get_result_service_name, // get_action_derived_name
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"result_service_name_test" // subject_name
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},
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{
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"test_it", // action_name
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"test_it/_action/feedback", // expected_action_derived_name
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rcl_action_get_feedback_topic_name, // get_action_derived_name
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"feedback_topic_name_test" // subject_name
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},
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{
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"test_it", // action_name
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"test_it/_action/status", // expected_action_derived_name
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rcl_action_get_status_topic_name, // get_action_derived_name
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"status_topic_name_test" // subject_name
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}
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};
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INSTANTIATE_TEST_CASE_P(
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TestActionServiceAndTopicNames, TestActionDerivedName,
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::testing::ValuesIn(action_service_and_topic_subjects),
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::testing::PrintToStringParamName());
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