From cac761373fb6448f5e8965b860b86626d6b334a8 Mon Sep 17 00:00:00 2001 From: brawner Date: Tue, 12 May 2020 10:26:49 -0700 Subject: [PATCH] Increasing test coverage of rclcpp_components (#1044) * Increasing test coverage of rclcpp_components Signed-off-by: Stephen Brawner * PR fixup Signed-off-by: Stephen Brawner * Fixup Signed-off-by: Stephen Brawner * Removing throws test for now Signed-off-by: Stephen Brawner --- rclcpp_components/CMakeLists.txt | 8 ++ .../test/components/test_component.cpp | 1 - .../test/test_component_manager.cpp | 5 ++ .../test/test_component_manager_api.cpp | 75 ++++++++++++++++++- 4 files changed, 84 insertions(+), 5 deletions(-) diff --git a/rclcpp_components/CMakeLists.txt b/rclcpp_components/CMakeLists.txt index b433096..759e0f3 100644 --- a/rclcpp_components/CMakeLists.txt +++ b/rclcpp_components/CMakeLists.txt @@ -78,11 +78,19 @@ if(BUILD_TESTING) set(components "${components}test_rclcpp_components::TestComponentBar;$\n") set(components "${components}test_rclcpp_components::TestComponentNoNode;$\n") + # A properly formed resource only has one ';', this is used to catch an invalid resource entry + set(invalid_components "test_rclcpp_components::TestComponentFoo;;$\n") + file(GENERATE OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$/share/ament_index/resource_index/rclcpp_components/${PROJECT_NAME}" CONTENT "${components}") + file(GENERATE + OUTPUT + "${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$/share/ament_index/resource_index/rclcpp_components/invalid_${PROJECT_NAME}" + CONTENT "${invalid_components}") + set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}") if(WIN32) set(append_library_dirs "${append_library_dirs}/$") diff --git a/rclcpp_components/test/components/test_component.cpp b/rclcpp_components/test/components/test_component.cpp index dc85187..7193ed7 100644 --- a/rclcpp_components/test/components/test_component.cpp +++ b/rclcpp_components/test/components/test_component.cpp @@ -55,7 +55,6 @@ private: rclcpp::Node node_; }; - } // namespace test_rclcpp_components #include "rclcpp_components/register_node_macro.hpp" diff --git a/rclcpp_components/test/test_component_manager.cpp b/rclcpp_components/test/test_component_manager.cpp index a19fdab..a051509 100644 --- a/rclcpp_components/test/test_component_manager.cpp +++ b/rclcpp_components/test/test_component_manager.cpp @@ -88,4 +88,9 @@ TEST_F(TestComponentManager, create_component_factory_invalid) auto resources = manager->get_component_resources("rclcpp_components"); auto factory = manager->create_component_factory({"foo_class", resources[0].second}); EXPECT_EQ(nullptr, factory); + + // Test improperly formed resources file + EXPECT_THROW( + auto resources = manager->get_component_resources("invalid_rclcpp_components"), + rclcpp_components::ComponentManagerException); } diff --git a/rclcpp_components/test/test_component_manager_api.cpp b/rclcpp_components/test/test_component_manager_api.cpp index a13bf22..138fc38 100644 --- a/rclcpp_components/test/test_component_manager_api.cpp +++ b/rclcpp_components/test/test_component_manager_api.cpp @@ -143,6 +143,65 @@ TEST_F(TestComponentManager, components_api) EXPECT_EQ(result.get()->unique_id, 0u); } + { + // Remap rules + auto request = std::make_shared(); + request->package_name = "rclcpp_components"; + request->plugin_name = "test_rclcpp_components::TestComponentFoo"; + request->node_name = "test_component_remap"; + request->remap_rules.push_back("alice:=bob"); + + auto result = client->async_send_request(request); + auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result. + EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS); + EXPECT_EQ(result.get()->success, true); + EXPECT_EQ(result.get()->error_message, ""); + EXPECT_EQ(result.get()->full_node_name, "/test_component_remap"); + EXPECT_EQ(result.get()->unique_id, 5u); + } + + { + // use_intra_process_comms + auto request = std::make_shared(); + request->package_name = "rclcpp_components"; + request->plugin_name = "test_rclcpp_components::TestComponentFoo"; + request->node_name = "test_component_intra_process"; + rclcpp::Parameter use_intraprocess_comms("use_intra_process_comms", + rclcpp::ParameterValue(true)); + request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg()); + + auto result = client->async_send_request(request); + auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result. + EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS); + EXPECT_EQ(result.get()->success, true); + EXPECT_EQ(result.get()->error_message, ""); + std::cout << result.get()->full_node_name << std::endl; + EXPECT_EQ(result.get()->full_node_name, "/test_component_intra_process"); + EXPECT_EQ(result.get()->unique_id, 6u); + } + + { + // use_intra_process_comms is not a bool type parameter + auto request = std::make_shared(); + request->package_name = "rclcpp_components"; + request->plugin_name = "test_rclcpp_components::TestComponentFoo"; + request->node_name = "test_component_intra_process_str"; + + rclcpp::Parameter use_intraprocess_comms("use_intra_process_comms", + rclcpp::ParameterValue("hello")); + request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg()); + + auto result = client->async_send_request(request); + auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result. + EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS); + EXPECT_EQ(result.get()->success, false); + EXPECT_EQ( + result.get()->error_message, + "Extra component argument 'use_intra_process_comms' must be a boolean"); + EXPECT_EQ(result.get()->full_node_name, ""); + EXPECT_EQ(result.get()->unique_id, 0u); + } + auto node_names = node->get_node_names(); auto find_in_nodes = [node_names](std::string name) { @@ -170,16 +229,20 @@ TEST_F(TestComponentManager, components_api) auto node_names = result.get()->full_node_names; auto unique_ids = result.get()->unique_ids; - EXPECT_EQ(node_names.size(), 4u); + EXPECT_EQ(node_names.size(), 6u); EXPECT_EQ(node_names[0], "/test_component_foo"); EXPECT_EQ(node_names[1], "/test_component_bar"); EXPECT_EQ(node_names[2], "/test_component_baz"); EXPECT_EQ(node_names[3], "/ns/test_component_bing"); - EXPECT_EQ(unique_ids.size(), 4u); + EXPECT_EQ(node_names[4], "/test_component_remap"); + EXPECT_EQ(node_names[5], "/test_component_intra_process"); + EXPECT_EQ(unique_ids.size(), 6u); EXPECT_EQ(unique_ids[0], 1u); EXPECT_EQ(unique_ids[1], 2u); EXPECT_EQ(unique_ids[2], 3u); EXPECT_EQ(unique_ids[3], 4u); + EXPECT_EQ(unique_ids[4], 5u); + EXPECT_EQ(unique_ids[5], 6u); } } @@ -230,14 +293,18 @@ TEST_F(TestComponentManager, components_api) auto node_names = result.get()->full_node_names; auto unique_ids = result.get()->unique_ids; - EXPECT_EQ(node_names.size(), 3u); + EXPECT_EQ(node_names.size(), 5u); EXPECT_EQ(node_names[0], "/test_component_bar"); EXPECT_EQ(node_names[1], "/test_component_baz"); EXPECT_EQ(node_names[2], "/ns/test_component_bing"); - EXPECT_EQ(unique_ids.size(), 3u); + EXPECT_EQ(node_names[3], "/test_component_remap"); + EXPECT_EQ(node_names[4], "/test_component_intra_process"); + EXPECT_EQ(unique_ids.size(), 5u); EXPECT_EQ(unique_ids[0], 2u); EXPECT_EQ(unique_ids[1], 3u); EXPECT_EQ(unique_ids[2], 4u); + EXPECT_EQ(unique_ids[3], 5u); + EXPECT_EQ(unique_ids[4], 6u); } } }