4a5eed968c
* Add line break after first open paren in multiline function call as per developer guide: https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#open-versus-cuddled-braces see https://github.com/ament/ament_lint/pull/148 Signed-off-by: Dan Rose <dan@digilabs.io> Fix dedent when first function argument starts with a brace Signed-off-by: Dan Rose <dan@digilabs.io> Line break with multiline if condition Remove line breaks where allowed. Signed-off-by: Dan Rose <dan@digilabs.io> Fixup after rebase Signed-off-by: Dan Rose <dan@digilabs.io> Fixup again after reverting indent_paren_open_brace Signed-off-by: Dan Rose <dan@digilabs.io> * Revert comment spacing change, condense some lines Signed-off-by: Dan Rose <dan@digilabs.io>
125 lines
2.9 KiB
C++
125 lines
2.9 KiB
C++
// Copyright 2017 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <string>
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#include <memory>
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#include "rclcpp/exceptions.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rcl_interfaces/srv/list_parameters.hpp"
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class TestClient : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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void SetUp()
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{
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node = std::make_shared<rclcpp::Node>("my_node", "/ns");
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}
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void TearDown()
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{
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node.reset();
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}
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rclcpp::Node::SharedPtr node;
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};
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class TestClientSub : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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}
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void SetUp()
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{
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node = std::make_shared<rclcpp::Node>("my_node", "/ns");
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subnode = node->create_sub_node("sub_ns");
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}
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void TearDown()
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{
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node.reset();
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}
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rclcpp::Node::SharedPtr node;
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rclcpp::Node::SharedPtr subnode;
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};
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/*
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Testing client construction and destruction.
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*/
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TEST_F(TestClient, construction_and_destruction) {
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using rcl_interfaces::srv::ListParameters;
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{
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auto client = node->create_client<ListParameters>("service");
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}
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{
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ASSERT_THROW(
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{
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auto client = node->create_client<ListParameters>("invalid_service?");
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}, rclcpp::exceptions::InvalidServiceNameError);
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}
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}
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TEST_F(TestClient, construction_with_free_function) {
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{
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auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
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node->get_node_base_interface(),
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node->get_node_graph_interface(),
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node->get_node_services_interface(),
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"service",
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rmw_qos_profile_services_default,
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nullptr);
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}
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{
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ASSERT_THROW(
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{
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auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
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node->get_node_base_interface(),
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node->get_node_graph_interface(),
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node->get_node_services_interface(),
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"invalid_?service",
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rmw_qos_profile_services_default,
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nullptr);
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}, rclcpp::exceptions::InvalidServiceNameError);
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}
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}
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/*
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Testing client construction and destruction for subnodes.
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*/
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TEST_F(TestClientSub, construction_and_destruction) {
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using rcl_interfaces::srv::ListParameters;
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{
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auto client = subnode->create_client<ListParameters>("service");
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EXPECT_STREQ(client->get_service_name(), "/ns/sub_ns/service");
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}
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{
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ASSERT_THROW(
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{
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auto client = node->create_client<ListParameters>("invalid_service?");
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}, rclcpp::exceptions::InvalidServiceNameError);
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}
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}
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