Adding tests basic getters (#1291)

Blast545 · web-flow · commit d66cd96f2546 · 2020-09-09T18:28:42.000-03:00
* Add tests serialize functions
* Add test getter const get_service_handle
* Add basic tests getters publisher
* Add == operator tests
* Improve check on QOS depth
* Remove extra line, copy directly string
* Expect specific error throws

Signed-off-by: Jorge Perez &lt;jjperez@ekumenlabs.com&gt;
diff --git a/rclcpp/test/CMakeLists.txt b/rclcpp/test/CMakeLists.txt
@@ -373,6 +373,7 @@ if(TARGET test_service)
     "rmw"
     "rosidl_runtime_cpp"
     "rosidl_typesupport_cpp"
+    "test_msgs"
   )
   target_link_libraries(test_service ${PROJECT_NAME})
 endif()
diff --git a/rclcpp/test/rclcpp/test_publisher.cpp b/rclcpp/test/rclcpp/test_publisher.cpp
@@ -203,3 +203,59 @@ TEST_F(TestPublisherSub, construction_and_destruction) {
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 }
+
+// Auxiliary class used to test getter for const PublisherBase
+const rosidl_message_type_support_t EmptyTypeSupport()
+{
+  return *rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::Empty>();
+}
+
+const rcl_publisher_options_t PublisherOptions()
+{
+  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
+}
+
+class TestPublisherBase : public rclcpp::PublisherBase
+{
+public:
+  explicit TestPublisherBase(rclcpp::Node * node)
+  : rclcpp::PublisherBase(
+      node->get_node_base_interface().get(), "topic", EmptyTypeSupport(), PublisherOptions()) {}
+};
+
+/*
+   Testing some publisher getters
+ */
+TEST_F(TestPublisher, basic_getters) {
+  initialize();
+  using test_msgs::msg::Empty;
+  {
+    using rclcpp::QoS;
+    using rclcpp::KeepLast;
+    const size_t qos_depth_size = 10u;
+    auto publisher = node->create_publisher<Empty>("topic", QoS(KeepLast(qos_depth_size)));
+
+    size_t publisher_queue_size = publisher->get_queue_size();
+    EXPECT_EQ(qos_depth_size, publisher_queue_size);
+
+    const rmw_gid_t & publisher_rmw_gid = publisher->get_gid();
+    EXPECT_NE(nullptr, publisher_rmw_gid.implementation_identifier);
+
+    std::shared_ptr<rcl_publisher_t> publisher_handle = publisher->get_publisher_handle();
+    EXPECT_NE(nullptr, publisher_handle);
+
+    EXPECT_TRUE(publisher->assert_liveliness());
+  }
+  {
+    const TestPublisherBase publisher = TestPublisherBase(node.get());
+    std::shared_ptr<const rcl_publisher_t> publisher_handle = publisher.get_publisher_handle();
+    EXPECT_NE(nullptr, publisher_handle);
+
+    const rmw_gid_t & publisher_rmw_gid = publisher.get_gid();
+    EXPECT_NE(nullptr, publisher_rmw_gid.implementation_identifier);
+
+    // Test == operator of publisher with rmw_gid_t
+    EXPECT_EQ(publisher, publisher_rmw_gid);
+  }
+}
diff --git a/rclcpp/test/rclcpp/test_serialized_message.cpp b/rclcpp/test/rclcpp/test_serialized_message.cpp
@@ -140,6 +140,20 @@ TEST(TestSerializedMessage, release) {
   EXPECT_EQ(RCL_RET_OK, rmw_serialized_message_fini(&released_handle));
 }
 
+TEST(TestSerializedMessage, reserve) {
+  rclcpp::SerializedMessage serialized_msg(13);
+  EXPECT_EQ(13u, serialized_msg.capacity());
+
+  // Resize using reserve method
+  serialized_msg.reserve(15);
+  EXPECT_EQ(15u, serialized_msg.capacity());
+
+  // Use invalid value throws exception
+  EXPECT_THROW(
+    {serialized_msg.reserve(-1);},
+    rclcpp::exceptions::RCLBadAlloc);
+}
+
 TEST(TestSerializedMessage, serialization) {
   using MessageT = test_msgs::msg::BasicTypes;
 
@@ -159,6 +173,85 @@ TEST(TestSerializedMessage, serialization) {
   }
 }
 
+TEST(TestSerializedMessage, assignment_operators) {
+  const std::string content = "Hello World";
+  const auto content_size = content.size() + 1;  // accounting for null terminator
+  auto default_allocator = rcl_get_default_allocator();
+  auto rcl_serialized_msg = rmw_get_zero_initialized_serialized_message();
+  auto ret = rmw_serialized_message_init(&rcl_serialized_msg, 13, &default_allocator);
+  ASSERT_EQ(RCL_RET_OK, ret);
+
+  // manually copy some content
+  std::memcpy(rcl_serialized_msg.buffer, content.c_str(), content_size);
+  rcl_serialized_msg.buffer_length = content_size;
+  EXPECT_EQ(13u, rcl_serialized_msg.buffer_capacity);
+  rclcpp::SerializedMessage serialized_message_to_assign(rcl_serialized_msg);
+  EXPECT_EQ(13u, serialized_message_to_assign.capacity());
+  EXPECT_EQ(content_size, serialized_message_to_assign.size());
+
+  // Test copy assignment with = operator, on another rclcpp::SerializedMessage
+  rclcpp::SerializedMessage serialized_msg_copy(2);
+  EXPECT_EQ(2u, serialized_msg_copy.capacity());
+  EXPECT_EQ(0u, serialized_msg_copy.size());
+  serialized_msg_copy = serialized_message_to_assign;
+  EXPECT_EQ(13u, serialized_msg_copy.capacity());
+  EXPECT_EQ(content_size, serialized_msg_copy.size());
+
+  // Test copy assignment with = operator, with a rcl_serialized_message_t
+  rclcpp::SerializedMessage serialized_msg_copy_rcl(2);
+  EXPECT_EQ(2u, serialized_msg_copy_rcl.capacity());
+  EXPECT_EQ(0u, serialized_msg_copy_rcl.size());
+  serialized_msg_copy_rcl = rcl_serialized_msg;
+  EXPECT_EQ(13u, serialized_msg_copy_rcl.capacity());
+  EXPECT_EQ(content_size, serialized_msg_copy_rcl.size());
+
+  // Test move assignment with = operator
+  rclcpp::SerializedMessage serialized_msg_move(2);
+  EXPECT_EQ(2u, serialized_msg_move.capacity());
+  EXPECT_EQ(0u, serialized_msg_move.size());
+  serialized_msg_move = std::move(serialized_message_to_assign);
+  EXPECT_EQ(13u, serialized_msg_move.capacity());
+  EXPECT_EQ(content_size, serialized_msg_move.size());
+  EXPECT_EQ(0u, serialized_message_to_assign.capacity());
+  EXPECT_EQ(0u, serialized_message_to_assign.size());
+
+  // Test move assignment with = operator, with a rcl_serialized_message_t
+  rclcpp::SerializedMessage serialized_msg_move_rcl(2);
+  EXPECT_EQ(2u, serialized_msg_move_rcl.capacity());
+  EXPECT_EQ(0u, serialized_msg_move_rcl.size());
+  serialized_msg_move_rcl = std::move(rcl_serialized_msg);
+  EXPECT_EQ(13u, serialized_msg_move_rcl.capacity());
+  EXPECT_EQ(content_size, serialized_msg_move_rcl.size());
+  EXPECT_EQ(0u, rcl_serialized_msg.buffer_capacity);
+
+  // Error because it was moved
+  EXPECT_EQ(RCUTILS_RET_INVALID_ARGUMENT, rmw_serialized_message_fini(&rcl_serialized_msg));
+}
+
+TEST(TestSerializedMessage, failed_init_throws) {
+  rclcpp::SerializedMessage serialized_msg(13);
+  EXPECT_EQ(13u, serialized_msg.capacity());
+
+  // Constructor with invalid size throws exception
+  EXPECT_THROW(
+    {rclcpp::SerializedMessage serialized_msg_fail(-1);},
+    rclcpp::exceptions::RCLBadAlloc);
+
+  // Constructor copy with rmw_serialized bad msg throws
+  auto default_allocator = rcl_get_default_allocator();
+  auto rcl_serialized_msg = rmw_get_zero_initialized_serialized_message();
+  auto ret = rmw_serialized_message_init(&rcl_serialized_msg, 13, &default_allocator);
+  ASSERT_EQ(RCL_RET_OK, ret);
+  EXPECT_EQ(13u, rcl_serialized_msg.buffer_capacity);
+  rcl_serialized_msg.buffer_capacity = -1;
+  EXPECT_THROW(
+    {rclcpp::SerializedMessage serialized_msg_fail_2(rcl_serialized_msg);},
+    rclcpp::exceptions::RCLBadAlloc);
+
+  rcl_serialized_msg.buffer_capacity = 13;
+  EXPECT_EQ(RCL_RET_OK, rmw_serialized_message_fini(&rcl_serialized_msg));
+}
+
 void serialize_default_ros_msg()
 {
   using MessageT = test_msgs::msg::BasicTypes;
diff --git a/rclcpp/test/rclcpp/test_service.cpp b/rclcpp/test/rclcpp/test_service.cpp
@@ -21,6 +21,8 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "rcl_interfaces/srv/list_parameters.hpp"
+#include "test_msgs/srv/empty.hpp"
+#include "test_msgs/srv/empty.h"
 
 class TestService : public ::testing::Test
 {
@@ -105,3 +107,39 @@ TEST_F(TestServiceSub, construction_and_destruction) {
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
 }
+
+/* Testing basic getters */
+TEST_F(TestService, basic_public_getters) {
+  using rcl_interfaces::srv::ListParameters;
+  auto callback =
+    [](const ListParameters::Request::SharedPtr, ListParameters::Response::SharedPtr) {
+    };
+  auto service = node->create_service<ListParameters>("service", callback);
+  EXPECT_STREQ(service->get_service_name(), "/ns/service");
+  std::shared_ptr<rcl_service_t> service_handle = service->get_service_handle();
+  EXPECT_NE(nullptr, service_handle);
+
+  {
+    // Create a extern defined const service
+    auto node_handle_int = rclcpp::Node::make_shared("base_node");
+    rcl_service_t service_handle = rcl_get_zero_initialized_service();
+    rcl_service_options_t service_options = rcl_service_get_default_options();
+    const rosidl_service_type_support_t * ts =
+      rosidl_typesupport_cpp::get_service_type_support_handle<test_msgs::srv::Empty>();
+    rcl_ret_t ret = rcl_service_init(
+      &service_handle,
+      node_handle_int->get_node_base_interface()->get_rcl_node_handle(),
+      ts, "base_node_service", &service_options);
+    if (ret != RCL_RET_OK) {
+      FAIL();
+      return;
+    }
+    rclcpp::AnyServiceCallback<test_msgs::srv::Empty> cb;
+    const rclcpp::Service<test_msgs::srv::Empty> base(
+      node_handle_int->get_node_base_interface()->get_shared_rcl_node_handle(),
+      &service_handle, cb);
+    // Use get_service_handle specific to const service
+    std::shared_ptr<const rcl_service_t> const_service_handle = base.get_service_handle();
+    EXPECT_NE(nullptr, const_service_handle);
+  }
+}

Original file line number	Diff line number	Diff line change
`@@ -373,6 +373,7 @@ if(TARGET test_service)`
`373`	`373`	`"rmw"`
`374`	`374`	`"rosidl_runtime_cpp"`
`375`	`375`	`"rosidl_typesupport_cpp"`
	`376`	`+ "test_msgs"`
`376`	`377`	`)`
`377`	`378`	`target_link_libraries(test_service ${PROJECT_NAME})`
`378`	`379`	`endif()`