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Added missing tests for rclcpp lifecycle (#1240)

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* Added missing test rclcpp lifecycle
 - remove_on_set_parameters_callback
 - notify_graph_change
 - get_service_names_and_types_by_node

Signed-off-by: ahcorde <ahcorde@gmail.com>

* omit the name of the argument in lambda function

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Removed extra line

Signed-off-by: ahcorde <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero 2020-08-12 16:16:09 +02:00 • committed by Alejandro Hernández Cordero
parent 85235938f6
commit ed7a23731a
1 changed files with 49 additions and 0 deletions
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49
rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
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@ -32,6 +32,7 @@
#include "lifecycle_msgs/srv/get_available_transitions.hpp"
#include "lifecycle_msgs/srv/get_state.hpp"
#include "rclcpp/node_interfaces/node_graph.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
@ -344,3 +345,51 @@ TEST_F(TestLifecycleServiceClient, lifecycle_transitions) {
transitions = lifecycle_client()->get_available_transitions();
EXPECT_EQ(transitions.size(), 0u);
}
TEST_F(TestLifecycleServiceClient, get_service_names_and_types_by_node)
{
auto node1 = std::make_shared<LifecycleServiceClient>("client1");
auto node2 = std::make_shared<LifecycleServiceClient>("client2");
auto node_graph = node1->get_node_graph_interface();
ASSERT_NE(nullptr, node_graph);
EXPECT_THROW(
node_graph->get_service_names_and_types_by_node("not_a_node", "not_absolute_namespace"),
std::runtime_error);
auto service_names_and_types1 = node_graph->get_service_names_and_types_by_node("client1", "/");
auto service_names_and_types2 = node_graph->get_service_names_and_types_by_node("client2", "/");
EXPECT_EQ(service_names_and_types1.size(), service_names_and_types2.size());
}
TEST_F(TestLifecycleServiceClient, declare_parameter_with_no_initial_values)
{
auto node1 = std::make_shared<LifecycleServiceClient>("client1");
auto on_set_parameters =
[](const std::vector<rclcpp::Parameter> &) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
return result;
};
auto handler = node1->add_on_set_parameters_callback(on_set_parameters);
RCLCPP_SCOPE_EXIT({node1->remove_on_set_parameters_callback(handler.get());}); // always reset
}
TEST_F(TestLifecycleServiceClient, wait_for_graph_change)
{
auto node = std::make_shared<LifecycleServiceClient>("client_wait_for_graph_change");
auto node_graph = node->get_node_graph_interface();
ASSERT_NE(nullptr, node_graph);
EXPECT_NO_THROW(node_graph->notify_graph_change());
EXPECT_THROW(
node_graph->wait_for_graph_change(nullptr, std::chrono::milliseconds(1)),
rclcpp::exceptions::InvalidEventError);
auto event = std::make_shared<rclcpp::Event>();
EXPECT_THROW(
node_graph->wait_for_graph_change(event, std::chrono::milliseconds(0)),
rclcpp::exceptions::EventNotRegisteredError);
}