niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Ability to configure domain_id via InitOptions. (#1165)

Browse source 
Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

Remove non-foxy api changes

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
tomoya 2020-08-06 01:23:06 +09:00 • committed by brawner
parent 32ef520434
commit efef96e657
2 changed files with 51 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

5
rclcpp/test/CMakeLists.txt
View file

@ -253,6 +253,11 @@ if(TARGET test_node_options)
ament_target_dependencies(test_node_options "rcl")
target_link_libraries(test_node_options ${PROJECT_NAME})
endif()
ament_add_gtest(test_init_options rclcpp/test_init_options.cpp)
if(TARGET test_init_options)
ament_target_dependencies(test_init_options "rcl")
target_link_libraries(test_init_options ${PROJECT_NAME})
endif()
ament_add_gtest(test_parameter_client rclcpp/test_parameter_client.cpp)
if(TARGET test_parameter_client)
ament_target_dependencies(test_parameter_client

46
rclcpp/test/rclcpp/test_init_options.cpp Normal file
View file

@ -0,0 +1,46 @@
// 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 <string>
#include <vector>
#include "rcl/allocator.h"
#include "rcl/domain_id.h"
#include "rclcpp/init_options.hpp"
TEST(TestInitOptions, test_construction) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto options = rclcpp::InitOptions(allocator);
const rcl_init_options_t * rcl_options = options.get_rcl_init_options();
ASSERT_TRUE(rcl_options != nullptr);
ASSERT_TRUE(rcl_options->impl != nullptr);
{
auto options_copy = rclcpp::InitOptions(options);
const rcl_init_options_t * rcl_options_copy = options_copy.get_rcl_init_options();
ASSERT_TRUE(rcl_options_copy != nullptr);
ASSERT_TRUE(rcl_options_copy->impl != nullptr);
}
{
auto options_copy = options;
const rcl_init_options_t * rcl_options_copy = options_copy.get_rcl_init_options();
ASSERT_TRUE(rcl_options_copy != nullptr);
ASSERT_TRUE(rcl_options_copy->impl != nullptr);
}
}