70 lines
2.6 KiB
C++
70 lines
2.6 KiB
C++
// Copyright 2018 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 <vector>
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#include "rclcpp/node.hpp"
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#include "rclcpp/rclcpp.hpp"
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class TestNodeWithInitialValues : 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, NULL);
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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(TestNodeWithInitialValues, no_initial_values) {
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auto context = rclcpp::contexts::default_context::get_global_default_context();
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const std::vector<std::string> arguments = {};
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const std::vector<rclcpp::Parameter> initial_values = {};
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const bool use_global_arguments = false;
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const bool use_intra_process = false;
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auto node = rclcpp::Node::make_shared(
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"node_name", "", context, arguments, initial_values, use_global_arguments, use_intra_process);
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auto list_params_result = node->list_parameters({}, 0);
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EXPECT_EQ(0u, list_params_result.names.size());
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}
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TEST_F(TestNodeWithInitialValues, multiple_initial_values) {
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auto context = rclcpp::contexts::default_context::get_global_default_context();
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const std::vector<std::string> arguments = {};
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const std::vector<rclcpp::Parameter> initial_values = {
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rclcpp::Parameter("foo", true),
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rclcpp::Parameter("bar", "hello world"),
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rclcpp::Parameter("baz", std::vector<double>{3.14, 2.718})
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};
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const bool use_global_arguments = false;
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const bool use_intra_process = false;
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auto node = rclcpp::Node::make_shared(
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"node_name", "", context, arguments, initial_values, use_global_arguments, use_intra_process);
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auto list_params_result = node->list_parameters({}, 0);
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EXPECT_EQ(3u, list_params_result.names.size());
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EXPECT_TRUE(node->get_parameter("foo").get_value<bool>());
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EXPECT_STREQ("hello world", node->get_parameter("bar").get_value<std::string>().c_str());
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std::vector<double> double_array = node->get_parameter("baz").get_value<std::vector<double>>();
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ASSERT_EQ(2u, double_array.size());
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EXPECT_DOUBLE_EQ(3.14, double_array.at(0));
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EXPECT_DOUBLE_EQ(2.718, double_array.at(1));
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}
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