e920175dae
* Increase test coverage of rclcpp_lifecycle to 96% Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * test_depend Signed-off-by: Stephen Brawner <brawner@gmail.com> * rcutils test_depend Signed-off-by: Stephen Brawner <brawner@gmail.com> * More windows warnings Signed-off-by: Stephen Brawner <brawner@gmail.com>
104 lines
2.9 KiB
C++
104 lines
2.9 KiB
C++
// Copyright 2020 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 <string>
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#include <utility>
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#include "test_msgs/msg/empty.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
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class TestDefaultStateMachine : 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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class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
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{
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public:
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explicit EmptyLifecycleNode(const std::string & node_name)
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: rclcpp_lifecycle::LifecycleNode(node_name)
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{
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rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
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publisher_ =
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std::make_shared<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>>(
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get_node_base_interface().get(), std::string("topic"), rclcpp::QoS(10), options);
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add_publisher_handle(publisher_);
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// For coverage this is being added here
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auto timer = create_wall_timer(std::chrono::seconds(1), []() {});
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add_timer_handle(timer);
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}
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std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher()
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{
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return publisher_;
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}
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private:
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std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher_;
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};
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class TestLifecyclePublisher : public ::testing::Test
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{
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public:
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void SetUp()
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{
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rclcpp::init(0, nullptr);
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node_ = std::make_shared<EmptyLifecycleNode>("node");
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}
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void TearDown()
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{
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rclcpp::shutdown();
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}
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protected:
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std::shared_ptr<EmptyLifecycleNode> node_;
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};
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TEST_F(TestLifecyclePublisher, publish) {
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node_->publisher()->on_deactivate();
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EXPECT_FALSE(node_->publisher()->is_activated());
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{
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auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
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EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
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}
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{
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auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
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EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
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}
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node_->publisher()->on_activate();
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EXPECT_TRUE(node_->publisher()->is_activated());
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{
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auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
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EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
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}
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{
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auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
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EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
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}
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}
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