a6e3412bb0
* fix up documentation for zero copy api Signed-off-by: Karsten Knese <karsten@openrobotics.org> * rename loan_message to borrow_loaned_message Signed-off-by: Karsten Knese <karsten@openrobotics.org> * use return_loaned_message_from Signed-off-by: Karsten Knese <karsten@openrobotics.org>
83 lines
2.5 KiB
C++
83 lines
2.5 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 <memory>
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#include "rclcpp/loaned_message.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "test_msgs/msg/basic_types.hpp"
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using MessageT = test_msgs::msg::BasicTypes;
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using LoanedMessageT = rclcpp::LoanedMessage<MessageT>;
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class TestLoanedMessage : 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(TestLoanedMessage, initialize) {
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auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
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auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
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auto loaned_msg = rclcpp::LoanedMessage<MessageT>(pub.get(), pub->get_allocator());
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ASSERT_TRUE(loaned_msg.is_valid());
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loaned_msg.get().float32_value = 42.0f;
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ASSERT_EQ(42.0f, loaned_msg.get().float32_value);
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SUCCEED();
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}
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TEST_F(TestLoanedMessage, loan_from_pub) {
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auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
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auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
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auto loaned_msg = pub->borrow_loaned_message();
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ASSERT_TRUE(loaned_msg.is_valid());
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loaned_msg.get().float64_value = 42.0f;
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ASSERT_EQ(42.0f, loaned_msg.get().float64_value);
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SUCCEED();
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}
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TEST_F(TestLoanedMessage, release) {
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auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
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auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
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MessageT * msg = nullptr;
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{
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auto loaned_msg = pub->borrow_loaned_message();
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ASSERT_TRUE(loaned_msg.is_valid());
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loaned_msg.get().float64_value = 42.0f;
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ASSERT_EQ(42.0f, loaned_msg.get().float64_value);
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msg = loaned_msg.release();
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// call destructor implicitly.
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// destructor not allowed to free memory because of not having ownership
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// of the data after a call to release.
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}
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ASSERT_EQ(42.0f, msg->float64_value);
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SUCCEED();
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}
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