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Increase coverage of WaitSetTemplate (#1368)

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* Increase coverage of WaitSetTemplate

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-10-01 13:10:25 -07:00
parent b3f50460f4
commit 1ae8ca41fb
1 changed files with 58 additions and 0 deletions
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58
rclcpp/test/rclcpp/test_wait_set.cpp
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@ -266,6 +266,64 @@ TEST_F(TestWaitSet, add_guard_condition_to_two_different_wait_set) {
} }
} }
/*
* Testing adding each entity and waiting, and removing each entity and waiting
*/
TEST_F(TestWaitSet, add_remove_wait) {
rclcpp::WaitSet wait_set;
auto node = std::make_shared<rclcpp::Node>("add_remove_wait");
auto guard_condition = std::make_shared<rclcpp::GuardCondition>();
guard_condition->trigger();
// For coverage reasons, this subscription should have event handlers
rclcpp::SubscriptionOptions subscription_options;
subscription_options.event_callbacks.deadline_callback = [](auto) {};
subscription_options.event_callbacks.liveliness_callback = [](auto) {};
auto do_nothing = [](const std::shared_ptr<test_msgs::msg::BasicTypes>) {};
auto sub =
node->create_subscription<test_msgs::msg::BasicTypes>(
"~/test", 1, do_nothing, subscription_options);
auto timer = node->create_wall_timer(std::chrono::milliseconds(1), []() {});
auto client = node->create_client<rcl_interfaces::srv::ListParameters>("~/test");
auto srv_do_nothing = [](
const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request>,
std::shared_ptr<rcl_interfaces::srv::ListParameters::Response>) {};
auto service =
node->create_service<rcl_interfaces::srv::ListParameters>("~/test", srv_do_nothing);
rclcpp::PublisherOptions publisher_options;
publisher_options.event_callbacks.deadline_callback =
[](rclcpp::QOSDeadlineOfferedInfo &) {};
auto pub = node->create_publisher<test_msgs::msg::BasicTypes>(
"~/test", 1, publisher_options);
auto qos_event = pub->get_event_handlers()[0];
// Subscription mask is required here for coverage.
wait_set.add_subscription(sub, {true, true, true});
wait_set.add_guard_condition(guard_condition);
wait_set.add_timer(timer);
wait_set.add_client(client);
wait_set.add_service(service);
wait_set.add_waitable(qos_event, pub);
// At least timer or guard_condition should trigger
EXPECT_EQ(rclcpp::WaitResultKind::Ready, wait_set.wait(std::chrono::seconds(1)).kind());
wait_set.remove_subscription(sub, {true, true, true});
wait_set.remove_guard_condition(guard_condition);
wait_set.remove_timer(timer);
wait_set.remove_client(client);
wait_set.remove_service(service);
wait_set.remove_waitable(qos_event);
EXPECT_EQ(rclcpp::WaitResultKind::Empty, wait_set.wait(std::chrono::seconds(1)).kind());
}
/* /*
* Get wait_set from result. * Get wait_set from result.
*/ */