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test_any_service_callback.cpp
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109 lines (93 loc) · 3.76 KB
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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.
// This file includes basic API tests for the AnyServiceCallback class.
// It is also tested in test_externally_defined_services.cpp
#include <gtest/gtest.h>
#include <functional>
#include <memory>
#include <utility>
#include "rclcpp/any_service_callback.hpp"
#include "rclcpp/service.hpp"
#include "test_msgs/srv/empty.hpp"
#include "test_msgs/srv/empty.h"
class TestAnyServiceCallback : public ::testing::Test
{
public:
void SetUp()
{
request_header_ = std::make_shared<rmw_request_id_t>();
request_ = std::make_shared<test_msgs::srv::Empty::Request>();
response_ = std::make_shared<test_msgs::srv::Empty::Response>();
}
protected:
rclcpp::AnyServiceCallback<test_msgs::srv::Empty> any_service_callback_;
std::shared_ptr<rmw_request_id_t> request_header_;
std::shared_ptr<test_msgs::srv::Empty::Request> request_;
std::shared_ptr<test_msgs::srv::Empty::Response> response_;
};
TEST_F(TestAnyServiceCallback, no_set_and_dispatch_throw) {
EXPECT_THROW(
any_service_callback_.dispatch(nullptr, request_header_, request_),
std::runtime_error);
}
TEST_F(TestAnyServiceCallback, set_and_dispatch_no_header) {
int callback_calls = 0;
auto callback = [&callback_calls](const std::shared_ptr<test_msgs::srv::Empty::Request>,
std::shared_ptr<test_msgs::srv::Empty::Response>) {
callback_calls++;
};
any_service_callback_.set(callback);
EXPECT_NO_THROW(
EXPECT_NE(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
EXPECT_EQ(callback_calls, 1);
}
TEST_F(TestAnyServiceCallback, set_and_dispatch_header) {
int callback_with_header_calls = 0;
auto callback_with_header =
[&callback_with_header_calls](const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<test_msgs::srv::Empty::Request>,
std::shared_ptr<test_msgs::srv::Empty::Response>) {
callback_with_header_calls++;
};
any_service_callback_.set(callback_with_header);
EXPECT_NO_THROW(
EXPECT_NE(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
EXPECT_EQ(callback_with_header_calls, 1);
}
TEST_F(TestAnyServiceCallback, set_and_dispatch_defered) {
int callback_with_header_calls = 0;
auto callback_with_header =
[&callback_with_header_calls](const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<test_msgs::srv::Empty::Request>) {
callback_with_header_calls++;
};
any_service_callback_.set(callback_with_header);
EXPECT_NO_THROW(
EXPECT_EQ(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
EXPECT_EQ(callback_with_header_calls, 1);
}
TEST_F(TestAnyServiceCallback, set_and_dispatch_defered_with_service_handle) {
int callback_with_header_calls = 0;
auto callback_with_header =
[&callback_with_header_calls](std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty>>,
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<test_msgs::srv::Empty::Request>)
{
callback_with_header_calls++;
};
any_service_callback_.set(callback_with_header);
EXPECT_NO_THROW(
EXPECT_EQ(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
EXPECT_EQ(callback_with_header_calls, 1);
}