78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
// Copyright 2019 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 <memory>
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#include <utility>
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#include "rclcpp/contexts/default_context.hpp"
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#include "rclcpp/node_interfaces/node_base_interface_traits.hpp"
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#include "rclcpp/node_interfaces/node_base.hpp"
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#include "rclcpp/node.hpp"
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class MyNode
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{
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public:
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std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> get_node_base_interface() const
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{
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rclcpp::NodeOptions options;
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return std::make_shared<rclcpp::node_interfaces::NodeBase>(
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"my_node_name",
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"my_node_namespace",
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rclcpp::contexts::default_context::get_global_default_context(),
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*options.get_rcl_node_options(),
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options.use_intra_process_comms(),
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options.enable_topic_statistics());
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}
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};
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class WrongNode
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{
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public:
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std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> not_get_node_base_interface()
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{
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return nullptr;
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}
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};
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template<class T, typename std::enable_if<
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rclcpp::node_interfaces::has_node_base_interface<T>::value
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>::type * = nullptr>
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void get_node_name(const T & nodelike)
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{
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ASSERT_STREQ("my_node_name", nodelike.get_node_base_interface()->get_name());
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}
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class TestInterfaceTraits : 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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static void TearDownTestCase()
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{
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rclcpp::shutdown();
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}
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};
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TEST_F(TestInterfaceTraits, has_node_base_interface) {
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ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<MyNode>::value);
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ASSERT_FALSE(rclcpp::node_interfaces::has_node_base_interface<WrongNode>::value);
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ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<rclcpp::Node>::value);
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get_node_name(MyNode());
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}
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