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Add coverage for missing API (except executors) (#1326)
* Add coverage for missing API (except executors Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR Fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Do not check state Signed-off-by: Stephen Brawner <brawner@gmail.com>
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// Copyright 2020 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <gtest/gtest.h> | ||
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#include <memory> | ||
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#include "rclcpp/allocator/allocator_common.hpp" | ||
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TEST(TestAllocatorCommon, retyped_allocate) { | ||
std::allocator<int> allocator; | ||
void * untyped_allocator = &allocator; | ||
void * allocated_mem = | ||
rclcpp::allocator::retyped_allocate<std::allocator<char>>(1u, untyped_allocator); | ||
ASSERT_NE(nullptr, allocated_mem); | ||
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auto code = [&untyped_allocator, allocated_mem]() { | ||
rclcpp::allocator::retyped_deallocate<int, std::allocator<int>>( | ||
allocated_mem, untyped_allocator); | ||
}; | ||
EXPECT_NO_THROW(code()); | ||
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allocated_mem = allocator.allocate(1); | ||
ASSERT_NE(nullptr, allocated_mem); | ||
void * reallocated_mem = | ||
rclcpp::allocator::retyped_reallocate<int, std::allocator<int>>( | ||
allocated_mem, 2u, untyped_allocator); | ||
ASSERT_NE(nullptr, reallocated_mem); | ||
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auto code2 = [&untyped_allocator, reallocated_mem]() { | ||
rclcpp::allocator::retyped_deallocate<int, std::allocator<int>>( | ||
reallocated_mem, untyped_allocator); | ||
}; | ||
EXPECT_NO_THROW(code2()); | ||
} | ||
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TEST(TestAllocatorCommon, get_rcl_allocator) { | ||
std::allocator<int> allocator; | ||
auto rcl_allocator = rclcpp::allocator::get_rcl_allocator<int>(allocator); | ||
EXPECT_NE(nullptr, rcl_allocator.allocate); | ||
EXPECT_NE(nullptr, rcl_allocator.deallocate); | ||
EXPECT_NE(nullptr, rcl_allocator.reallocate); | ||
EXPECT_NE(nullptr, rcl_allocator.zero_allocate); | ||
// Not testing state as that may or may not be null depending on platform | ||
} | ||
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TEST(TestAllocatorCommon, get_void_rcl_allocator) { | ||
std::allocator<void> allocator; | ||
auto rcl_allocator = | ||
rclcpp::allocator::get_rcl_allocator<void, std::allocator<void>>(allocator); | ||
EXPECT_NE(nullptr, rcl_allocator.allocate); | ||
EXPECT_NE(nullptr, rcl_allocator.deallocate); | ||
EXPECT_NE(nullptr, rcl_allocator.reallocate); | ||
EXPECT_NE(nullptr, rcl_allocator.zero_allocate); | ||
// Not testing state as that may or may not be null depending on platform | ||
} |
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rclcpp/test/rclcpp/allocator/test_allocator_deleter.cpp
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// Copyright 2020 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <gtest/gtest.h> | ||
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#include <memory> | ||
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#include "rclcpp/allocator/allocator_deleter.hpp" | ||
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#include "../../utils/rclcpp_gtest_macros.hpp" | ||
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TEST(TestAllocatorDeleter, construct_destruct) { | ||
std::allocator<int> allocator; | ||
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rclcpp::allocator::AllocatorDeleter<std::allocator<int>> deleter; | ||
EXPECT_EQ(nullptr, deleter.get_allocator()); | ||
deleter.set_allocator(&allocator); | ||
EXPECT_EQ(&allocator, deleter.get_allocator()); | ||
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rclcpp::allocator::AllocatorDeleter<std::allocator<int>> deleter2(&allocator); | ||
EXPECT_EQ(&allocator, deleter2.get_allocator()); | ||
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rclcpp::allocator::AllocatorDeleter<std::allocator<int>> deleter3(deleter2); | ||
EXPECT_EQ(&allocator, deleter3.get_allocator()); | ||
} | ||
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TEST(TestAllocatorDeleter, delete) { | ||
std::allocator<int> allocator; | ||
int * some_mem = allocator.allocate(1u); | ||
ASSERT_NE(nullptr, some_mem); | ||
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rclcpp::allocator::AllocatorDeleter<std::allocator<int>> deleter(&allocator); | ||
EXPECT_NO_THROW(deleter(some_mem)); | ||
} | ||
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TEST(TestAllocatorDeleter, set_allocator_for_deleter_AllocatorDeleter) { | ||
using AllocatorT = std::allocator<int>; | ||
using DeleterT = rclcpp::allocator::AllocatorDeleter<AllocatorT>; | ||
AllocatorT allocator; | ||
DeleterT deleter(&allocator); | ||
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std::allocator<int> allocator2; | ||
rclcpp::allocator::set_allocator_for_deleter<AllocatorT, AllocatorT>(&deleter, &allocator2); | ||
EXPECT_EQ(&allocator2, deleter.get_allocator()); | ||
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auto throwing_statement = [&allocator]() { | ||
DeleterT * null_del_ptr = nullptr; | ||
rclcpp::allocator::set_allocator_for_deleter<AllocatorT, AllocatorT>( | ||
null_del_ptr, &allocator); | ||
}; | ||
RCLCPP_EXPECT_THROW_EQ( | ||
throwing_statement(), | ||
std::invalid_argument("Argument was NULL to set_allocator_for_deleter")); | ||
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auto throwing_statement2 = [&deleter]() { | ||
AllocatorT * null_alloc_ptr = nullptr; | ||
rclcpp::allocator::set_allocator_for_deleter<AllocatorT, AllocatorT>( | ||
&deleter, null_alloc_ptr); | ||
}; | ||
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RCLCPP_EXPECT_THROW_EQ( | ||
throwing_statement2(), | ||
std::invalid_argument("Argument was NULL to set_allocator_for_deleter")); | ||
} | ||
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TEST(TestAllocatorDeleter, set_allocator_for_deleter_std_default_delete) { | ||
using AllocatorT = std::allocator<int>; | ||
using DeleterT = std::default_delete<int>; | ||
auto not_throwing_statement = []() { | ||
AllocatorT allocator; | ||
DeleterT deleter; | ||
rclcpp::allocator::set_allocator_for_deleter<int, int>(&deleter, &allocator); | ||
}; | ||
EXPECT_NO_THROW(not_throwing_statement()); | ||
} | ||
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TEST(TestAllocatorDeleter, set_allocator_for_deleter_unexpected_template) { | ||
class SomeAllocatorClass {}; | ||
class SomeDeleterClass {}; | ||
using AllocatorT = SomeAllocatorClass; | ||
using DeleterT = SomeDeleterClass; | ||
auto throwing_statement = []() { | ||
DeleterT deleter; | ||
AllocatorT allocator; | ||
rclcpp::allocator::set_allocator_for_deleter<AllocatorT, int, DeleterT>(&deleter, &allocator); | ||
}; | ||
RCLCPP_EXPECT_THROW_EQ( | ||
throwing_statement(), | ||
std::runtime_error("Reached unexpected template specialization")); | ||
} |
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// Copyright 2020 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <gtest/gtest.h> | ||
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#include "rclcpp/exceptions/exceptions.hpp" | ||
#include "rclcpp/rclcpp.hpp" | ||
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#include "../../mocking_utils/patch.hpp" | ||
#include "../../utils/rclcpp_gtest_macros.hpp" | ||
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TEST(TestExceptions, throw_from_rcl_error) { | ||
EXPECT_THROW( | ||
rclcpp::exceptions::throw_from_rcl_error(RCL_RET_BAD_ALLOC, ""), | ||
rclcpp::exceptions::RCLBadAlloc); | ||
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EXPECT_THROW( | ||
rclcpp::exceptions::throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, ""), | ||
rclcpp::exceptions::RCLInvalidArgument); | ||
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EXPECT_THROW( | ||
rclcpp::exceptions::throw_from_rcl_error(RCL_RET_INVALID_ROS_ARGS, ""), | ||
rclcpp::exceptions::RCLInvalidROSArgsError); | ||
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EXPECT_THROW( | ||
rclcpp::exceptions::throw_from_rcl_error(RCL_RET_ERROR, ""), | ||
rclcpp::exceptions::RCLError); | ||
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RCLCPP_EXPECT_THROW_EQ( | ||
rclcpp::exceptions::throw_from_rcl_error(RCL_RET_OK, ""), | ||
std::invalid_argument("ret is RCL_RET_OK")); | ||
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{ | ||
auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_get_error_state, nullptr); | ||
RCLCPP_EXPECT_THROW_EQ( | ||
rclcpp::exceptions::throw_from_rcl_error(RCL_RET_ERROR, ""), | ||
std::runtime_error("rcl error state is not set")); | ||
} | ||
} | ||
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TEST(TestExceptions, basic_constructors) { | ||
EXPECT_STREQ("node is invalid", rclcpp::exceptions::InvalidNodeError().what()); | ||
rcl_error_state_t error_state{"error", __FILE__, __LINE__}; | ||
EXPECT_STREQ( | ||
"prefix: error not set", | ||
rclcpp::exceptions::RCLInvalidROSArgsError(RCL_RET_ERROR, &error_state, "prefix: ").what()); | ||
} |
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// Copyright 2015 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <gtest/gtest.h> | ||
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#include <string> | ||
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#include "rclcpp/future_return_code.hpp" | ||
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TEST(TestFutureReturnCode, to_string) { | ||
EXPECT_EQ( | ||
"Unknown enum value (-1)", rclcpp::to_string(rclcpp::FutureReturnCode(-1))); | ||
EXPECT_EQ( | ||
"SUCCESS (0)", rclcpp::to_string(rclcpp::FutureReturnCode::SUCCESS)); | ||
EXPECT_EQ( | ||
"INTERRUPTED (1)", rclcpp::to_string(rclcpp::FutureReturnCode::INTERRUPTED)); | ||
EXPECT_EQ( | ||
"TIMEOUT (2)", rclcpp::to_string(rclcpp::FutureReturnCode::TIMEOUT)); | ||
EXPECT_EQ( | ||
"Unknown enum value (3)", rclcpp::to_string(rclcpp::FutureReturnCode(3))); | ||
EXPECT_EQ( | ||
"Unknown enum value (100)", rclcpp::to_string(rclcpp::FutureReturnCode(100))); | ||
} |
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