231b991098
* Trait tests for generated actions Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback Signed-off-by: Michael Carroll <michael@openrobotics.org>
99 lines
4.5 KiB
C++
99 lines
4.5 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 <test_msgs/action/fibonacci.hpp>
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using rosidl_generator_traits::is_message;
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using rosidl_generator_traits::is_service;
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using rosidl_generator_traits::is_action;
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using rosidl_generator_traits::is_action_goal;
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using rosidl_generator_traits::is_action_result;
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using rosidl_generator_traits::is_action_feedback;
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TEST(TestActionTraits, is_action) {
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using Fibonacci = test_msgs::action::Fibonacci;
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// Top level definition is an action
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EXPECT_FALSE(is_message<Fibonacci>());
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EXPECT_FALSE(is_service<Fibonacci>());
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EXPECT_TRUE(is_action<Fibonacci>());
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EXPECT_FALSE(is_action_goal<Fibonacci>());
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EXPECT_FALSE(is_action_result<Fibonacci>());
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EXPECT_FALSE(is_action_feedback<Fibonacci>());
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// Goal is an action_goal as well as a message
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EXPECT_TRUE(is_message<Fibonacci::Goal>());
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EXPECT_FALSE(is_service<Fibonacci::Goal>());
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EXPECT_FALSE(is_action<Fibonacci::Goal>());
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EXPECT_TRUE(is_action_goal<Fibonacci::Goal>());
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EXPECT_FALSE(is_action_result<Fibonacci::Goal>());
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EXPECT_FALSE(is_action_feedback<Fibonacci::Goal>());
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// Result is an action_result as well as a message
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EXPECT_TRUE(is_message<Fibonacci::Result>());
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EXPECT_FALSE(is_service<Fibonacci::Result>());
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EXPECT_FALSE(is_action<Fibonacci::Result>());
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EXPECT_FALSE(is_action_goal<Fibonacci::Result>());
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EXPECT_TRUE(is_action_result<Fibonacci::Result>());
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EXPECT_FALSE(is_action_feedback<Fibonacci::Result>());
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// Feedback is an action_feedback as well as a message
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EXPECT_TRUE(is_message<Fibonacci::Feedback>());
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EXPECT_FALSE(is_service<Fibonacci::Feedback>());
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EXPECT_FALSE(is_action<Fibonacci::Feedback>());
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EXPECT_FALSE(is_action_goal<Fibonacci::Feedback>());
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EXPECT_FALSE(is_action_result<Fibonacci::Feedback>());
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EXPECT_TRUE(is_action_feedback<Fibonacci::Feedback>());
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}
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TEST(TestActionTraits, is_action_impl) {
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using Fibonacci = test_msgs::action::Fibonacci;
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// Test traits on some of the internal implementation of actions
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EXPECT_FALSE(is_message<Fibonacci::Impl::SendGoalService>());
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EXPECT_TRUE(is_service<Fibonacci::Impl::SendGoalService>());
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EXPECT_FALSE(is_action<Fibonacci::Impl::SendGoalService>());
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EXPECT_FALSE(is_action_goal<Fibonacci::Impl::SendGoalService>());
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EXPECT_FALSE(is_action_result<Fibonacci::Impl::SendGoalService>());
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EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::SendGoalService>());
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EXPECT_FALSE(is_message<Fibonacci::Impl::GetResultService>());
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EXPECT_TRUE(is_service<Fibonacci::Impl::GetResultService>());
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EXPECT_FALSE(is_action<Fibonacci::Impl::GetResultService>());
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EXPECT_FALSE(is_action_goal<Fibonacci::Impl::GetResultService>());
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EXPECT_FALSE(is_action_result<Fibonacci::Impl::GetResultService>());
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EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::GetResultService>());
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EXPECT_FALSE(is_message<Fibonacci::Impl::CancelGoalService>());
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EXPECT_TRUE(is_service<Fibonacci::Impl::CancelGoalService>());
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EXPECT_FALSE(is_action<Fibonacci::Impl::CancelGoalService>());
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EXPECT_FALSE(is_action_goal<Fibonacci::Impl::CancelGoalService>());
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EXPECT_FALSE(is_action_result<Fibonacci::Impl::CancelGoalService>());
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EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::CancelGoalService>());
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EXPECT_TRUE(is_message<Fibonacci::Impl::FeedbackMessage>());
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EXPECT_FALSE(is_service<Fibonacci::Impl::FeedbackMessage>());
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EXPECT_FALSE(is_action<Fibonacci::Impl::FeedbackMessage>());
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EXPECT_FALSE(is_action_goal<Fibonacci::Impl::FeedbackMessage>());
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EXPECT_FALSE(is_action_result<Fibonacci::Impl::FeedbackMessage>());
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EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::FeedbackMessage>());
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EXPECT_TRUE(is_message<Fibonacci::Impl::GoalStatusMessage>());
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EXPECT_FALSE(is_service<Fibonacci::Impl::GoalStatusMessage>());
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EXPECT_FALSE(is_action<Fibonacci::Impl::GoalStatusMessage>());
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EXPECT_FALSE(is_action_goal<Fibonacci::Impl::GoalStatusMessage>());
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EXPECT_FALSE(is_action_result<Fibonacci::Impl::GoalStatusMessage>());
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EXPECT_FALSE(is_action_feedback<Fibonacci::Impl::GoalStatusMessage>());
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}
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