Unit tests for some header-only functions/classes (#1181)
* Unit tests for header-only functions/classes Adds coverage for: * any_service_callback.hpp * any_subscription_callback.hpp * create_subscription.hpp * create_timer.hpp Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR feedback Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner
parent
c21ddaaf8b
commit
25286ac1c3
4 changed files with 371 additions and 0 deletions
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@ -17,6 +17,20 @@ rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
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SKIP_INSTALL
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)
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ament_add_gtest(test_any_service_callback rclcpp/test_any_service_callback.cpp)
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if(TARGET test_any_service_callback)
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ament_target_dependencies(test_any_service_callback
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"test_msgs"
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)
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target_link_libraries(test_any_service_callback ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_any_subscription_callback rclcpp/test_any_subscription_callback.cpp)
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if(TARGET test_any_subscription_callback)
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ament_target_dependencies(test_any_subscription_callback
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"test_msgs"
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)
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target_link_libraries(test_any_subscription_callback ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_client rclcpp/test_client.cpp)
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if(TARGET test_client)
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ament_target_dependencies(test_client
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@ -39,6 +53,13 @@ if(TARGET test_create_timer)
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target_link_libraries(test_create_timer ${PROJECT_NAME})
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target_include_directories(test_create_timer PRIVATE rclcpp/)
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endif()
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ament_add_gtest(test_create_subscription rclcpp/test_create_subscription.cpp)
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if(TARGET test_create_subscription)
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target_link_libraries(test_create_subscription ${PROJECT_NAME})
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ament_target_dependencies(test_create_subscription
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"test_msgs"
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)
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endif()
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ament_add_gtest(test_expand_topic_or_service_name rclcpp/test_expand_topic_or_service_name.cpp)
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if(TARGET test_expand_topic_or_service_name)
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ament_target_dependencies(test_expand_topic_or_service_name
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78
rclcpp/test/rclcpp/test_any_service_callback.cpp
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78
rclcpp/test/rclcpp/test_any_service_callback.cpp
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@ -0,0 +1,78 @@
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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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// This file includes basic API tests for the AnyServiceCallback class.
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// It is also tested in test_externally_defined_services.cpp
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#include <gtest/gtest.h>
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#include <functional>
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#include <memory>
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#include <utility>
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#include "rclcpp/any_service_callback.hpp"
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#include "test_msgs/srv/empty.hpp"
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#include "test_msgs/srv/empty.h"
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class TestAnyServiceCallback : public ::testing::Test
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{
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public:
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void SetUp()
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{
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request_header_ = std::make_shared<rmw_request_id_t>();
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request_ = std::make_shared<test_msgs::srv::Empty::Request>();
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response_ = std::make_shared<test_msgs::srv::Empty::Response>();
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}
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protected:
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rclcpp::AnyServiceCallback<test_msgs::srv::Empty> any_service_callback_;
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std::shared_ptr<rmw_request_id_t> request_header_;
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std::shared_ptr<test_msgs::srv::Empty::Request> request_;
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std::shared_ptr<test_msgs::srv::Empty::Response> response_;
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};
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TEST_F(TestAnyServiceCallback, no_set_and_dispatch_throw) {
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EXPECT_THROW(
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any_service_callback_.dispatch(request_header_, request_, response_),
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std::runtime_error);
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}
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TEST_F(TestAnyServiceCallback, set_and_dispatch_no_header) {
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int callback_calls = 0;
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auto callback = [&callback_calls](const std::shared_ptr<test_msgs::srv::Empty::Request>,
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std::shared_ptr<test_msgs::srv::Empty::Response>) {
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callback_calls++;
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};
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any_service_callback_.set(callback);
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EXPECT_NO_THROW(
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any_service_callback_.dispatch(request_header_, request_, response_));
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EXPECT_EQ(callback_calls, 1);
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}
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TEST_F(TestAnyServiceCallback, set_and_dispatch_header) {
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int callback_with_header_calls = 0;
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auto callback_with_header =
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[&callback_with_header_calls](const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<test_msgs::srv::Empty::Request>,
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std::shared_ptr<test_msgs::srv::Empty::Response>) {
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callback_with_header_calls++;
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};
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any_service_callback_.set(callback_with_header);
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EXPECT_NO_THROW(
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any_service_callback_.dispatch(request_header_, request_, response_));
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EXPECT_EQ(callback_with_header_calls, 1);
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}
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205
rclcpp/test/rclcpp/test_any_subscription_callback.cpp
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205
rclcpp/test/rclcpp/test_any_subscription_callback.cpp
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@ -0,0 +1,205 @@
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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 <functional>
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#include <memory>
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#include <utility>
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#include "rclcpp/any_subscription_callback.hpp"
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#include "test_msgs/msg/empty.hpp"
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#include "test_msgs/msg/empty.h"
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class TestAnySubscriptionCallback : public ::testing::Test
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{
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public:
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TestAnySubscriptionCallback()
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: any_subscription_callback_(allocator_) {}
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void SetUp()
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{
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msg_shared_ptr_ = std::make_shared<test_msgs::msg::Empty>();
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msg_const_shared_ptr_ = std::make_shared<const test_msgs::msg::Empty>();
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msg_unique_ptr_ = std::make_unique<test_msgs::msg::Empty>();
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}
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protected:
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std::shared_ptr<std::allocator<void>> allocator_;
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty, std::allocator<void>>
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any_subscription_callback_;
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std::shared_ptr<test_msgs::msg::Empty> msg_shared_ptr_;
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std::shared_ptr<const test_msgs::msg::Empty> msg_const_shared_ptr_;
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std::unique_ptr<test_msgs::msg::Empty> msg_unique_ptr_;
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rclcpp::MessageInfo message_info_;
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};
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TEST_F(TestAnySubscriptionCallback, construct_destruct) {
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}
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TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
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EXPECT_THROW(
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any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_),
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std::runtime_error);
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
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std::runtime_error);
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
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std::runtime_error);
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}
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TEST_F(TestAnySubscriptionCallback, set_dispatch_shared_ptr) {
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int callback_count = 0;
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auto shared_ptr_callback = [&callback_count](
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const std::shared_ptr<test_msgs::msg::Empty>) {
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callback_count++;
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};
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any_subscription_callback_.set(shared_ptr_callback);
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EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 1);
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// Can't convert ConstSharedPtr to SharedPtr
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
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std::runtime_error);
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EXPECT_EQ(callback_count, 1);
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// Promotes Unique into SharedPtr
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EXPECT_NO_THROW(
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any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
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EXPECT_EQ(callback_count, 2);
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}
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TEST_F(TestAnySubscriptionCallback, set_dispatch_shared_ptr_w_info) {
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int callback_count = 0;
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auto shared_ptr_w_info_callback = [&callback_count](
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const std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
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callback_count++;
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};
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any_subscription_callback_.set(shared_ptr_w_info_callback);
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EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 1);
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// Can't convert ConstSharedPtr to SharedPtr
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
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std::runtime_error);
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EXPECT_EQ(callback_count, 1);
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// Promotes Unique into SharedPtr
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EXPECT_NO_THROW(
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any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
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EXPECT_EQ(callback_count, 2);
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}
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TEST_F(TestAnySubscriptionCallback, set_dispatch_const_shared_ptr) {
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int callback_count = 0;
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auto const_shared_ptr_callback = [&callback_count](
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std::shared_ptr<const test_msgs::msg::Empty>) {
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callback_count++;
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};
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any_subscription_callback_.set(const_shared_ptr_callback);
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// Ok to promote shared_ptr to ConstSharedPtr
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EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 1);
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EXPECT_NO_THROW(
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any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 2);
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// Not allowed to convert unique_ptr to const shared_ptr
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
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std::runtime_error);
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EXPECT_EQ(callback_count, 2);
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}
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TEST_F(TestAnySubscriptionCallback, set_dispatch_const_shared_ptr_w_info) {
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int callback_count = 0;
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auto const_shared_ptr_callback = [&callback_count](
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std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
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callback_count++;
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};
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any_subscription_callback_.set(
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std::move(const_shared_ptr_callback));
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// Ok to promote shared_ptr to ConstSharedPtr
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EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 1);
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EXPECT_NO_THROW(
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any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 2);
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// Not allowed to convert unique_ptr to const shared_ptr
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_),
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std::runtime_error);
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EXPECT_EQ(callback_count, 2);
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}
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TEST_F(TestAnySubscriptionCallback, set_dispatch_unique_ptr) {
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int callback_count = 0;
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auto unique_ptr_callback = [&callback_count](
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std::unique_ptr<test_msgs::msg::Empty>) {
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callback_count++;
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};
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any_subscription_callback_.set(unique_ptr_callback);
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// Message is copied into unique_ptr
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EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 1);
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
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std::runtime_error);
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EXPECT_EQ(callback_count, 1);
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// Unique_ptr is_moved
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EXPECT_NO_THROW(
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any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
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EXPECT_EQ(callback_count, 2);
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}
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TEST_F(TestAnySubscriptionCallback, set_dispatch_unique_ptr_w_info) {
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int callback_count = 0;
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auto unique_ptr_callback = [&callback_count](
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std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {
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callback_count++;
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};
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any_subscription_callback_.set(unique_ptr_callback);
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// Message is copied into unique_ptr
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EXPECT_NO_THROW(any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_));
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EXPECT_EQ(callback_count, 1);
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EXPECT_THROW(
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any_subscription_callback_.dispatch_intra_process(msg_const_shared_ptr_, message_info_),
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std::runtime_error);
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EXPECT_EQ(callback_count, 1);
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// Unique_ptr is_moved
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EXPECT_NO_THROW(
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any_subscription_callback_.dispatch_intra_process(std::move(msg_unique_ptr_), message_info_));
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EXPECT_EQ(callback_count, 2);
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}
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67
rclcpp/test/rclcpp/test_create_subscription.cpp
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67
rclcpp/test/rclcpp/test_create_subscription.cpp
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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 <chrono>
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#include <memory>
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#include "rclcpp/create_subscription.hpp"
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#include "rclcpp/node.hpp"
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#include "test_msgs/msg/empty.hpp"
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#include "test_msgs/msg/empty.h"
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using namespace std::chrono_literals;
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class TestCreateSubscription : public ::testing::Test
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{
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public:
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void SetUp() override
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{
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rclcpp::init(0, nullptr);
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}
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void TearDown() override
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{
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rclcpp::shutdown();
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}
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};
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TEST_F(TestCreateSubscription, create) {
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auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
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const rclcpp::QoS qos(10);
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auto options = rclcpp::SubscriptionOptions();
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auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
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auto subscription =
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rclcpp::create_subscription<test_msgs::msg::Empty>(node, "topic_name", qos, callback, options);
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ASSERT_NE(nullptr, subscription);
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EXPECT_STREQ("/ns/topic_name", subscription->get_topic_name());
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}
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TEST_F(TestCreateSubscription, create_with_statistics) {
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auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
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const rclcpp::QoS qos(10);
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auto options = rclcpp::SubscriptionOptions();
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options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
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options.topic_stats_options.publish_topic = "topic_statistics";
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options.topic_stats_options.publish_period = 5min;
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auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
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auto subscription =
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rclcpp::create_subscription<test_msgs::msg::Empty>(node, "topic_name", qos, callback, options);
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ASSERT_NE(nullptr, subscription);
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EXPECT_STREQ("/ns/topic_name", subscription->get_topic_name());
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}
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