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Finish coverage of publisher API (#1365)

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Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-09-30 15:46:10 -07:00
parent 707f9cfa8e
commit a6b9def7ae
1 changed files with 29 additions and 0 deletions
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29
rclcpp/test/rclcpp/test_publisher.cpp
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@ -266,6 +266,19 @@ TEST_F(TestPublisher, basic_getters) {
} }
} }
TEST_F(TestPublisher, serialized_message_publish) {
initialize();
rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
// This is the default, but it's also important for this test to succeed.
options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 10, options);
rclcpp::SerializedMessage serialized_msg;
EXPECT_NO_THROW(publisher->publish(serialized_msg));
EXPECT_NO_THROW(publisher->publish(serialized_msg.get_rcl_serialized_message()));
}
TEST_F(TestPublisher, rcl_publisher_init_error) { TEST_F(TestPublisher, rcl_publisher_init_error) {
initialize(); initialize();
auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_publisher_init, RCL_RET_ERROR); auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_publisher_init, RCL_RET_ERROR);
@ -424,6 +437,11 @@ public:
{ {
this->do_loaned_message_publish(msg); this->do_loaned_message_publish(msg);
} }
void call_default_incompatible_qos_callback(rclcpp::QOSOfferedIncompatibleQoSInfo & event) const
{
this->default_incompatible_qos_callback(event);
}
}; };
TEST_F(TestPublisher, do_loaned_message_publish_error) { TEST_F(TestPublisher, do_loaned_message_publish_error) {
@ -442,6 +460,17 @@ TEST_F(TestPublisher, do_loaned_message_publish_error) {
} }
} }
TEST_F(TestPublisher, default_incompatible_qos_callback) {
initialize();
using PublisherT = TestPublisherProtectedMethods<test_msgs::msg::Empty, std::allocator<void>>;
auto publisher =
node->create_publisher<test_msgs::msg::Empty, std::allocator<void>, PublisherT>("topic", 10);
rclcpp::QOSOfferedIncompatibleQoSInfo event;
event.last_policy_kind = RMW_QOS_POLICY_INVALID;
// This message just logs an error message
EXPECT_NO_THROW(publisher->call_default_incompatible_qos_callback(event));
}
TEST_F(TestPublisher, run_event_handlers) { TEST_F(TestPublisher, run_event_handlers) {
initialize(); initialize();
auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 10); auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 10);