47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
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// 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 <rclcpp/exceptions.hpp>
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#include <rclcpp/node.hpp>
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#include <rclcpp/rclcpp.hpp>
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#include <test_msgs/action/fibonacci.hpp>
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#include <gtest/gtest.h>
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#include <memory>
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#include "rclcpp_action/create_server.hpp"
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#include "rclcpp_action/server.hpp"
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class TestServer : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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};
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TEST_F(TestServer, construction_and_destruction)
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{
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auto node = std::make_shared<rclcpp::Node>("my_node", "/rclcpp_action/test/server");
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using GoalHandle = rclcpp_action::ServerGoalHandle<test_msgs::action::Fibonacci>;
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auto as = rclcpp_action::create_server<test_msgs::action::Fibonacci>(node.get(), "fibonacci",
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[](rcl_action_goal_info_t &, test_msgs::action::Fibonacci::Goal *) {},
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[](std::shared_ptr<GoalHandle>) {});
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(void)as;
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}
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