Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add tests for node_options API #1343

Merged
merged 2 commits into from
Sep 29, 2020
Merged

Add tests for node_options API #1343

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a399dae
Add tests for node_options API
brawner Sep 28, 2020
b37a44c
Remove c-style casts
brawner Sep 29, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion rclcpp/test/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -284,7 +284,7 @@ endif()
ament_add_gtest(test_node_options rclcpp/test_node_options.cpp)
if(TARGET test_node_options)
ament_target_dependencies(test_node_options "rcl")
target_link_libraries(test_node_options ${PROJECT_NAME})
target_link_libraries(test_node_options ${PROJECT_NAME} mimick)
endif()
ament_add_gtest(test_init_options rclcpp/test_init_options.cpp)
if(TARGET test_init_options)
Expand Down
109 changes: 109 additions & 0 deletions rclcpp/test/rclcpp/test_node_options.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <gtest/gtest.h>

#include <memory>
#include <string>
#include <vector>

Expand All @@ -23,6 +24,8 @@

#include "rclcpp/node_options.hpp"

#include "../mocking_utils/patch.hpp"


TEST(TestNodeOptions, ros_args_only) {
rcl_allocator_t allocator = rcl_get_default_allocator();
Expand Down Expand Up @@ -207,3 +210,109 @@ TEST(TestNodeOptions, append_parameter_override) {
EXPECT_EQ(1u, options.parameter_overrides().size());
EXPECT_EQ(std::string("some_parameter"), options.parameter_overrides()[0].get_name());
}

TEST(TestNodeOptions, rcl_node_options_fini_error) {
auto mock = mocking_utils::inject_on_return("lib:rclcpp", rcl_node_options_fini, RCL_RET_ERROR);
auto options = std::make_shared<rclcpp::NodeOptions>();
// Necessary to setup internal pointer
ASSERT_NE(nullptr, options->get_rcl_node_options());
// If fini fails, this should just log an error and continue
EXPECT_NO_THROW(options.reset());
}

TEST(TestNodeOptions, bool_setters_and_getters) {
rclcpp::NodeOptions options;

options.use_global_arguments(false);
EXPECT_FALSE(options.use_global_arguments());
EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
options.use_global_arguments(true);
EXPECT_TRUE(options.use_global_arguments());
EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);

options.enable_rosout(false);
EXPECT_FALSE(options.enable_rosout());
EXPECT_FALSE(options.get_rcl_node_options()->enable_rosout);
options.enable_rosout(true);
EXPECT_TRUE(options.enable_rosout());
EXPECT_TRUE(options.get_rcl_node_options()->enable_rosout);

options.use_intra_process_comms(false);
EXPECT_FALSE(options.use_intra_process_comms());
options.use_intra_process_comms(true);
EXPECT_TRUE(options.use_intra_process_comms());

options.enable_topic_statistics(false);
EXPECT_FALSE(options.enable_topic_statistics());
options.enable_topic_statistics(true);
EXPECT_TRUE(options.enable_topic_statistics());

options.start_parameter_services(false);
EXPECT_FALSE(options.start_parameter_services());
options.start_parameter_services(true);
EXPECT_TRUE(options.start_parameter_services());

options.allow_undeclared_parameters(false);
EXPECT_FALSE(options.allow_undeclared_parameters());
options.allow_undeclared_parameters(true);
EXPECT_TRUE(options.allow_undeclared_parameters());

options.start_parameter_event_publisher(false);
EXPECT_FALSE(options.start_parameter_event_publisher());
options.start_parameter_event_publisher(true);
EXPECT_TRUE(options.start_parameter_event_publisher());

options.automatically_declare_parameters_from_overrides(false);
EXPECT_FALSE(options.automatically_declare_parameters_from_overrides());
options.automatically_declare_parameters_from_overrides(true);
EXPECT_TRUE(options.automatically_declare_parameters_from_overrides());
}

TEST(TestNodeOptions, parameter_event_qos) {
rclcpp::NodeOptions options;
rclcpp::QoS qos1(1);
rclcpp::QoS qos2(2);
EXPECT_NE(qos1, options.parameter_event_qos());
EXPECT_NE(qos2, options.parameter_event_qos());
options.parameter_event_qos(qos1);
EXPECT_EQ(qos1, options.parameter_event_qos());
options.parameter_event_qos(qos2);
EXPECT_EQ(qos2, options.parameter_event_qos());
}

TEST(TestNodeOptions, parameter_event_publisher_options) {
rclcpp::NodeOptions options;
rclcpp::PublisherOptionsBase publisher_options;
publisher_options.use_default_callbacks = true;
options.parameter_event_publisher_options(publisher_options);
EXPECT_TRUE(options.parameter_event_publisher_options().use_default_callbacks);

publisher_options.use_default_callbacks = false;
options.parameter_event_publisher_options(publisher_options);
EXPECT_FALSE(options.parameter_event_publisher_options().use_default_callbacks);
}

TEST(TestNodeOptions, set_get_allocator) {
rclcpp::NodeOptions options;
EXPECT_NE(nullptr, options.allocator().allocate);
EXPECT_NE(nullptr, options.allocator().deallocate);
EXPECT_NE(nullptr, options.allocator().reallocate);
EXPECT_NE(nullptr, options.allocator().zero_allocate);

rcl_allocator_t fake_allocator;
fake_allocator.allocate = [](size_t, void *) -> void * {return nullptr;};
fake_allocator.deallocate = [](void *, void *) {};
fake_allocator.reallocate = [](void *, size_t, void *) -> void * {return nullptr;};
fake_allocator.zero_allocate = [](size_t, size_t, void *) -> void * {return nullptr;};
fake_allocator.state = rcl_get_default_allocator().state;

options.allocator(fake_allocator);
EXPECT_EQ(fake_allocator.allocate, options.allocator().allocate);
EXPECT_EQ(fake_allocator.deallocate, options.allocator().deallocate);
EXPECT_EQ(fake_allocator.reallocate, options.allocator().reallocate);
EXPECT_EQ(fake_allocator.zero_allocate, options.allocator().zero_allocate);
EXPECT_EQ(fake_allocator.state, options.allocator().state);

// Check invalid allocator
EXPECT_THROW(options.get_rcl_node_options(), std::bad_alloc);
}