Add test for ParameterService (#1355)

* Add test for ParameterService

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

* Address PR feedback

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

rclcpp/test/CMakeLists.txt

@@ -291,6 +291,13 @@ if(TARGET test_parameter_client)
   )
   target_link_libraries(test_parameter_client ${PROJECT_NAME})
 endif()
+ament_add_gtest(test_parameter_service rclcpp/test_parameter_service.cpp)
+if(TARGET test_parameter_service)
+  ament_target_dependencies(test_parameter_service
+    "rcl_interfaces"
+  )
+  target_link_libraries(test_parameter_service ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_parameter_events_filter rclcpp/test_parameter_events_filter.cpp)
 if(TARGET test_parameter_events_filter)
   ament_target_dependencies(test_parameter_events_filter

rclcpp/test/rclcpp/test_parameter_service.cpp

@@ -0,0 +1,139 @@
+// Copyright 2020 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 <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+#include "../../src/rclcpp/parameter_service_names.hpp"
+
+// This tests the ParameterService as it is included in an rclcpp::Node. Creating a separate
+// ParameterService would interfere with the built-in one
+class TestParameterService : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+  void SetUp()
+  {
+    node = std::make_shared<rclcpp::Node>("test_parameter_service", "/ns");
+    client = std::make_shared<rclcpp::SyncParametersClient>(node);
+    ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(1)));
+  }
+
+  rclcpp::Node::SharedPtr node;
+  rclcpp::SyncParametersClient::SharedPtr client;
+};
+
+TEST_F(TestParameterService, get_parameters) {
+  node->declare_parameter("parameter1", rclcpp::ParameterValue(42));
+  EXPECT_EQ(42, client->get_parameter("parameter1", 0));
+
+  EXPECT_EQ(-42, client->get_parameter("undeclared_parameter", -42));
+}
+
+TEST_F(TestParameterService, get_parameter_types) {
+  node->declare_parameter("parameter1", rclcpp::ParameterValue(42));
+
+  const std::vector<std::string> declared_parameters = {"parameter1"};
+  const auto parameter_types = client->get_parameter_types(declared_parameters);
+  ASSERT_EQ(1u, parameter_types.size());
+  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, parameter_types[0]);
+
+  const std::vector<std::string> undeclared_parameters = {"parameter2"};
+  const auto undeclared_parameter_types = client->get_parameter_types(undeclared_parameters);
+  EXPECT_EQ(0u, undeclared_parameter_types.size());
+}
+
+TEST_F(TestParameterService, set_parameters) {
+  node->declare_parameter("parameter1", rclcpp::ParameterValue(42));
+  ASSERT_EQ(42, client->get_parameter("parameter1", 0));
+
+  const std::vector<rclcpp::Parameter> parameters = {
+    rclcpp::Parameter("parameter1", 0),
+  };
+  client->set_parameters(parameters);
+  EXPECT_EQ(0, client->get_parameter("parameter1", 100));
+}
+
+TEST_F(TestParameterService, set_parameters_atomically) {
+  node->declare_parameter("parameter1", rclcpp::ParameterValue(42));
+  ASSERT_EQ(42, client->get_parameter("parameter1", 0));
+
+  const std::vector<rclcpp::Parameter> parameters = {
+    rclcpp::Parameter("parameter1", 0),
+  };
+  client->set_parameters_atomically(parameters);
+  EXPECT_EQ(0, client->get_parameter("parameter1", 100));
+}
+
+TEST_F(TestParameterService, list_parameters) {
+  const size_t number_parameters_in_basic_node = client->list_parameters({}, 1).names.size();
+  node->declare_parameter("parameter1", rclcpp::ParameterValue(42));
+
+  const auto list_result = client->list_parameters({}, 1);
+  EXPECT_EQ(1u + number_parameters_in_basic_node, list_result.names.size());
+}
+
+TEST_F(TestParameterService, describe_parameters) {
+  // There is no current API in ParameterClient for calling the describe_parameters service
+  // Update this test when https://github.com/ros2/rclcpp/issues/1354 is resolved
+
+  const std::string describe_parameters_service_name =
+    node->get_fully_qualified_name() + std::string("/") +
+    rclcpp::parameter_service_names::describe_parameters;
+  using ServiceT = rcl_interfaces::srv::DescribeParameters;
+  auto client =
+    node->create_client<ServiceT>(describe_parameters_service_name);
+
+  ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(1)));
+  node->declare_parameter("parameter1", rclcpp::ParameterValue(42));
+
+  {
+    auto request = std::make_shared<rcl_interfaces::srv::DescribeParameters::Request>();
+    request->names.push_back("parameter1");
+    auto future = client->async_send_request(request);
+
+    rclcpp::spin_until_future_complete(node, future, std::chrono::seconds(1));
+    auto response = future.get();
+    ASSERT_NE(nullptr, response);
+    EXPECT_EQ(1u, response->descriptors.size());
+
+    auto descriptor = response->descriptors[0];
+    EXPECT_EQ("parameter1", descriptor.name);
+    EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER, descriptor.type);
+  }
+  {
+    auto request = std::make_shared<rcl_interfaces::srv::DescribeParameters::Request>();
+    request->names.push_back("undeclared_parameter");
+    auto future = client->async_send_request(request);
+
+    rclcpp::spin_until_future_complete(node, future, std::chrono::seconds(1));
+    auto response = future.get();
+    ASSERT_NE(nullptr, response);
+    EXPECT_EQ(0u, response->descriptors.size());
+  }
+}