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Trait tests for generated actions (#853)

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* Trait tests for generated actions

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Address reviewer feedback

Signed-off-by: Michael Carroll <michael@openrobotics.org>
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Michael Carroll 2019-10-15 13:51:57 -05:00 • committed by GitHub
parent 8e69b7d505
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rclcpp_action/test/test_traits.cpp Normal file
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// Copyright 2019 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 <test_msgs/action/fibonacci.hpp>
using rosidl_generator_traits::is_message;
using rosidl_generator_traits::is_service;
using rosidl_generator_traits::is_action;
using rosidl_generator_traits::is_action_goal;
using rosidl_generator_traits::is_action_result;
using rosidl_generator_traits::is_action_feedback;
TEST(TestActionTraits, is_action) {
using Fibonacci = test_msgs::action::Fibonacci;
// Top level definition is an action
EXPECT_FALSE(is_message<Fibonacci>());
EXPECT_FALSE(is_service<Fibonacci>());
EXPECT_TRUE(is_action<Fibonacci>());
EXPECT_FALSE(is_action_goal<Fibonacci>());
EXPECT_FALSE(is_action_result<Fibonacci>());
EXPECT_FALSE(is_action_feedback<Fibonacci>());
// Goal is an action_goal as well as a message
EXPECT_TRUE(is_message<Fibonacci::Goal>());
EXPECT_FALSE(is_service<Fibonacci::Goal>());
EXPECT_FALSE(is_action<Fibonacci::Goal>());
EXPECT_TRUE(is_action_goal<Fibonacci::Goal>());
EXPECT_FALSE(is_action_result<Fibonacci::Goal>());
EXPECT_FALSE(is_action_feedback<Fibonacci::Goal>());
// Result is an action_result as well as a message
EXPECT_TRUE(is_message<Fibonacci::Result>());
EXPECT_FALSE(is_service<Fibonacci::Result>());
EXPECT_FALSE(is_action<Fibonacci::Result>());
EXPECT_FALSE(is_action_goal<Fibonacci::Result>());
EXPECT_TRUE(is_action_result<Fibonacci::Result>());
EXPECT_FALSE(is_action_feedback<Fibonacci::Result>());
// Feedback is an action_feedback as well as a message
EXPECT_TRUE(is_message<Fibonacci::Feedback>());
EXPECT_FALSE(is_service<Fibonacci::Feedback>());
EXPECT_FALSE(is_action<Fibonacci::Feedback>());
EXPECT_FALSE(is_action_goal<Fibonacci::Feedback>());
EXPECT_FALSE(is_action_result<Fibonacci::Feedback>());
EXPECT_TRUE(is_action_feedback<Fibonacci::Feedback>());
}
TEST(TestActionTraits, is_action_impl) {
using Fibonacci = test_msgs::action::Fibonacci;
// Test traits on some of the internal implementation of actions
EXPECT_FALSE(is_message<Fibonacci::Impl::SendGoalService>());
EXPECT_TRUE(is_service<Fibonacci::Impl::SendGoalService>());
EXPECT_FALSE(is_action<Fibonacci::Impl::SendGoalService>());
EXPECT_FALSE(is_action_goal<Fibonacci::Impl::SendGoalService>());
EXPECT_FALSE(is_action_result<Fibonacci::Impl::SendGoalService>());
EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::SendGoalService>());
EXPECT_FALSE(is_message<Fibonacci::Impl::GetResultService>());
EXPECT_TRUE(is_service<Fibonacci::Impl::GetResultService>());
EXPECT_FALSE(is_action<Fibonacci::Impl::GetResultService>());
EXPECT_FALSE(is_action_goal<Fibonacci::Impl::GetResultService>());
EXPECT_FALSE(is_action_result<Fibonacci::Impl::GetResultService>());
EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::GetResultService>());
EXPECT_FALSE(is_message<Fibonacci::Impl::CancelGoalService>());
EXPECT_TRUE(is_service<Fibonacci::Impl::CancelGoalService>());
EXPECT_FALSE(is_action<Fibonacci::Impl::CancelGoalService>());
EXPECT_FALSE(is_action_goal<Fibonacci::Impl::CancelGoalService>());
EXPECT_FALSE(is_action_result<Fibonacci::Impl::CancelGoalService>());
EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::CancelGoalService>());
EXPECT_TRUE(is_message<Fibonacci::Impl::FeedbackMessage>());
EXPECT_FALSE(is_service<Fibonacci::Impl::FeedbackMessage>());
EXPECT_FALSE(is_action<Fibonacci::Impl::FeedbackMessage>());
EXPECT_FALSE(is_action_goal<Fibonacci::Impl::FeedbackMessage>());
EXPECT_FALSE(is_action_result<Fibonacci::Impl::FeedbackMessage>());
EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::FeedbackMessage>());
EXPECT_TRUE(is_message<Fibonacci::Impl::GoalStatusMessage>());
EXPECT_FALSE(is_service<Fibonacci::Impl::GoalStatusMessage>());
EXPECT_FALSE(is_action<Fibonacci::Impl::GoalStatusMessage>());
EXPECT_FALSE(is_action_goal<Fibonacci::Impl::GoalStatusMessage>());
EXPECT_FALSE(is_action_result<Fibonacci::Impl::GoalStatusMessage>());
EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::GoalStatusMessage>());
}