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test_any_subscription_callback.cpp
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622 lines (562 loc) · 23.2 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.
#include <gtest/gtest.h>
#include <functional>
#include <memory>
#include <string>
#include <utility>
#include "rclcpp/any_subscription_callback.hpp"
#include "test_msgs/msg/empty.hpp"
#include "test_msgs/msg/empty.h"
class TestAnySubscriptionCallback : public ::testing::Test
{
public:
TestAnySubscriptionCallback() {}
static
std::unique_ptr<test_msgs::msg::Empty>
get_unique_ptr_msg()
{
return std::make_unique<test_msgs::msg::Empty>();
}
protected:
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback_;
std::shared_ptr<test_msgs::msg::Empty> msg_shared_ptr_{std::make_shared<test_msgs::msg::Empty>()};
rclcpp::MessageInfo message_info_;
};
void construct_with_null_allocator()
{
// suppress deprecated function warning
#if !defined(_WIN32)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#else // !defined(_WIN32)
# pragma warning(push)
# pragma warning(disable: 4996)
#endif
// We need to wrap this in a function because `EXPECT_THROW` is a macro, and thinks
// that the comma in here splits macro arguments, not the template arguments.
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback(nullptr);
// remove warning suppression
#if !defined(_WIN32)
# pragma GCC diagnostic pop
#else // !defined(_WIN32)
# pragma warning(pop)
#endif
}
TEST(AnySubscriptionCallback, null_allocator) {
EXPECT_THROW(
construct_with_null_allocator(),
std::invalid_argument);
}
TEST_F(TestAnySubscriptionCallback, construct_destruct) {
// Default constructor.
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc1;
// Constructor with allocator.
std::allocator<void> allocator;
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc2(allocator);
}
TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
EXPECT_THROW(
any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_),
std::runtime_error);
EXPECT_THROW(
any_subscription_callback_.dispatch_intra_process(msg_shared_ptr_, message_info_),
std::runtime_error);
EXPECT_THROW(
any_subscription_callback_.dispatch_intra_process(get_unique_ptr_msg(), message_info_),
std::runtime_error);
}
//
// Parameterized test to test across all callback types and dispatch types.
//
// Type adapter to be used in tests.
struct MyEmpty {};
template<>
struct rclcpp::TypeAdapter<MyEmpty, test_msgs::msg::Empty>
{
using is_specialized = std::true_type;
using custom_type = MyEmpty;
using ros_message_type = test_msgs::msg::Empty;
static
void
convert_to_ros_message(const custom_type &, ros_message_type &)
{}
static
void
convert_to_custom(const ros_message_type &, custom_type &)
{}
};
using MyTA = rclcpp::TypeAdapter<MyEmpty, test_msgs::msg::Empty>;
template<typename MessageT>
class InstanceContextImpl
{
public:
InstanceContextImpl() = default;
virtual ~InstanceContextImpl() = default;
explicit InstanceContextImpl(rclcpp::AnySubscriptionCallback<MessageT> asc)
: any_subscription_callback_(asc)
{}
virtual
rclcpp::AnySubscriptionCallback<MessageT>
get_any_subscription_callback_to_test() const
{
return any_subscription_callback_;
}
protected:
rclcpp::AnySubscriptionCallback<MessageT> any_subscription_callback_;
};
template<typename MessageT>
class InstanceContext
{
public:
InstanceContext(const std::string & name, std::shared_ptr<InstanceContextImpl<MessageT>> impl)
: name(name), impl_(impl)
{}
InstanceContext(
const std::string & name,
rclcpp::AnySubscriptionCallback<MessageT> asc)
: name(name), impl_(std::make_shared<InstanceContextImpl<MessageT>>(asc))
{}
InstanceContext(const InstanceContext & other)
: InstanceContext(other.name, other.impl_) {}
rclcpp::AnySubscriptionCallback<MessageT>
get_any_subscription_callback_to_test() const
{
return impl_->get_any_subscription_callback_to_test();
}
std::string name;
protected:
std::shared_ptr<InstanceContextImpl<MessageT>> impl_;
};
class DispatchTests
: public TestAnySubscriptionCallback,
public ::testing::WithParamInterface<InstanceContext<test_msgs::msg::Empty>>
{};
class DispatchTestsWithTA
: public TestAnySubscriptionCallback,
public ::testing::WithParamInterface<InstanceContext<MyTA>>
{};
auto
format_parameter(const ::testing::TestParamInfo<DispatchTests::ParamType> & info)
{
return info.param.name;
}
auto
format_parameter_with_ta(const ::testing::TestParamInfo<DispatchTestsWithTA::ParamType> & info)
{
return info.param.name;
}
#define PARAMETERIZED_TESTS(DispatchTests_name) \
/* Testing dispatch with shared_ptr<MessageT> as input */ \
TEST_P(DispatchTests_name, test_inter_shared_dispatch) { \
auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test(); \
any_subscription_callback_to_test.dispatch(msg_shared_ptr_, message_info_); \
} \
\
/* Testing dispatch with shared_ptr<const MessageT> as input */ \
TEST_P(DispatchTests_name, test_intra_shared_dispatch) { \
auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test(); \
any_subscription_callback_to_test.dispatch_intra_process(msg_shared_ptr_, message_info_); \
} \
\
/* Testing dispatch with unique_ptr<MessageT> as input */ \
TEST_P(DispatchTests_name, test_intra_unique_dispatch) { \
auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test(); \
any_subscription_callback_to_test.dispatch_intra_process(get_unique_ptr_msg(), message_info_); \
}
PARAMETERIZED_TESTS(DispatchTests)
PARAMETERIZED_TESTS(DispatchTestsWithTA)
// Generic classes for testing callbacks using std::bind to class methods.
template<typename MessageT, typename ... CallbackArgs>
class BindContextImpl : public InstanceContextImpl<MessageT>
{
static constexpr size_t number_of_callback_args{sizeof...(CallbackArgs)};
public:
using InstanceContextImpl<MessageT>::InstanceContextImpl;
virtual ~BindContextImpl() = default;
void on_message(CallbackArgs ...) const {}
rclcpp::AnySubscriptionCallback<MessageT>
get_any_subscription_callback_to_test() const override
{
if constexpr (number_of_callback_args == 1) {
return rclcpp::AnySubscriptionCallback<MessageT>().set(
std::bind(&BindContextImpl::on_message, this, std::placeholders::_1)
);
} else {
return rclcpp::AnySubscriptionCallback<MessageT>().set(
std::bind(&BindContextImpl::on_message, this, std::placeholders::_1, std::placeholders::_2)
);
}
}
};
template<typename MessageT, typename ... CallbackArgs>
class BindContext : public InstanceContext<MessageT>
{
public:
explicit BindContext(const std::string & name)
: InstanceContext<MessageT>(name, std::make_shared<BindContextImpl<MessageT, CallbackArgs ...>>())
{}
};
//
// Versions of `const MessageT &`
//
void const_ref_free_func(const test_msgs::msg::Empty &) {}
void const_ref_w_info_free_func(const test_msgs::msg::Empty &, const rclcpp::MessageInfo &) {}
INSTANTIATE_TEST_SUITE_P(
ConstRefCallbackTests,
DispatchTests,
::testing::Values(
// lambda
InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](const test_msgs::msg::Empty &) {})},
InstanceContext{"lambda_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](const test_msgs::msg::Empty &, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
const_ref_free_func)},
InstanceContext{"free_function_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
const_ref_w_info_free_func)},
// bind function
BindContext<test_msgs::msg::Empty, const test_msgs::msg::Empty &>("bind_method"),
BindContext<test_msgs::msg::Empty, const test_msgs::msg::Empty &, const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter
);
void const_ref_ta_free_func(const MyEmpty &) {}
void const_ref_ta_w_info_free_func(const MyEmpty &, const rclcpp::MessageInfo &) {}
INSTANTIATE_TEST_SUITE_P(
ConstRefTACallbackTests,
DispatchTestsWithTA,
::testing::Values(
// lambda
InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const MyEmpty &) {})},
InstanceContext<MyTA>{"lambda_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const MyEmpty &, const rclcpp::MessageInfo &) {})},
InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const test_msgs::msg::Empty &) {})},
InstanceContext<MyTA>{"lambda_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const test_msgs::msg::Empty &, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_ta_free_func)},
InstanceContext<MyTA>{"free_function_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_ta_w_info_free_func)},
InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_free_func)},
InstanceContext<MyTA>{"free_function_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_w_info_free_func)},
// bind function
BindContext<MyTA, const MyEmpty &>("bind_method_ta"),
BindContext<MyTA, const MyEmpty &, const rclcpp::MessageInfo &>(
"bind_method_ta_with_info"),
BindContext<MyTA, const test_msgs::msg::Empty &>("bind_method"),
BindContext<MyTA, const test_msgs::msg::Empty &, const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter_with_ta
);
//
// Versions of `std::unique_ptr<MessageT, MessageDeleter>`
//
void unique_ptr_free_func(std::unique_ptr<test_msgs::msg::Empty>) {}
void unique_ptr_w_info_free_func(
std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &)
{}
INSTANTIATE_TEST_SUITE_P(
UniquePtrCallbackTests,
DispatchTests,
::testing::Values(
// lambda
InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::unique_ptr<test_msgs::msg::Empty>) {})},
InstanceContext{"lambda_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
unique_ptr_free_func)},
InstanceContext{"free_function_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
unique_ptr_w_info_free_func)},
// bind function
BindContext<test_msgs::msg::Empty, std::unique_ptr<test_msgs::msg::Empty>>("bind_method"),
BindContext<
test_msgs::msg::Empty,
std::unique_ptr<test_msgs::msg::Empty>,
const rclcpp::MessageInfo &
>("bind_method_with_info")
),
format_parameter
);
void unique_ptr_ta_free_func(std::unique_ptr<MyEmpty>) {}
void unique_ptr_ta_w_info_free_func(std::unique_ptr<MyEmpty>, const rclcpp::MessageInfo &) {}
INSTANTIATE_TEST_SUITE_P(
UniquePtrCallbackTests,
DispatchTestsWithTA,
::testing::Values(
// lambda
InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::unique_ptr<MyEmpty>) {})},
InstanceContext<MyTA>{"lambda_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::unique_ptr<MyEmpty>, const rclcpp::MessageInfo &) {})},
InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::unique_ptr<test_msgs::msg::Empty>) {})},
InstanceContext<MyTA>{"lambda_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
unique_ptr_ta_free_func)},
InstanceContext<MyTA>{"free_function_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
unique_ptr_ta_w_info_free_func)},
InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
unique_ptr_free_func)},
InstanceContext<MyTA>{"free_function_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
unique_ptr_w_info_free_func)},
// bind function
BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>>("bind_method_ta"),
BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
"bind_method_ta_with_info"),
BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>>("bind_method"),
BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter_with_ta
);
//
// Versions of `std::shared_ptr<const MessageT>`
//
void shared_const_ptr_free_func(std::shared_ptr<const test_msgs::msg::Empty>) {}
void shared_const_ptr_w_info_free_func(
std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &)
{}
INSTANTIATE_TEST_SUITE_P(
SharedConstPtrCallbackTests,
DispatchTests,
::testing::Values(
// lambda
InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::shared_ptr<const test_msgs::msg::Empty>) {})},
InstanceContext{"lambda_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
shared_const_ptr_free_func)},
InstanceContext{"free_function_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
shared_const_ptr_w_info_free_func)},
// bind function
BindContext<test_msgs::msg::Empty, std::shared_ptr<const test_msgs::msg::Empty>>("bind_method"),
BindContext<test_msgs::msg::Empty, std::shared_ptr<const test_msgs::msg::Empty>,
const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter
);
void shared_const_ptr_ta_free_func(std::shared_ptr<const MyEmpty>) {}
void shared_const_ptr_ta_w_info_free_func(
std::shared_ptr<const MyEmpty>, const rclcpp::MessageInfo &)
{}
INSTANTIATE_TEST_SUITE_P(
SharedConstPtrCallbackTests,
DispatchTestsWithTA,
::testing::Values(
// lambda
InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<const MyEmpty>) {})},
InstanceContext<MyTA>{"lambda_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<const MyEmpty>, const rclcpp::MessageInfo &) {})},
InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<const test_msgs::msg::Empty>) {})},
InstanceContext<MyTA>{"lambda_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_const_ptr_ta_free_func)},
InstanceContext<MyTA>{"free_function_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_const_ptr_ta_w_info_free_func)},
InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_const_ptr_free_func)},
InstanceContext<MyTA>{"free_function_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_const_ptr_w_info_free_func)},
// bind function
BindContext<MyTA, std::shared_ptr<const MyEmpty>>("bind_method_ta"),
BindContext<MyTA, std::shared_ptr<const MyEmpty>, const rclcpp::MessageInfo &>(
"bind_method_ta_with_info"),
BindContext<MyTA, std::shared_ptr<const test_msgs::msg::Empty>>("bind_method"),
BindContext<MyTA, std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter_with_ta
);
//
// Versions of `const std::shared_ptr<const MessageT> &`
//
void const_ref_shared_const_ptr_free_func(const std::shared_ptr<const test_msgs::msg::Empty> &) {}
void const_ref_shared_const_ptr_w_info_free_func(
const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &)
{}
INSTANTIATE_TEST_SUITE_P(
ConstRefSharedConstPtrCallbackTests,
DispatchTests,
::testing::Values(
// lambda
InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](const std::shared_ptr<const test_msgs::msg::Empty> &) {})},
InstanceContext{"lambda_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
const_ref_shared_const_ptr_free_func)},
InstanceContext{"free_function_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
const_ref_shared_const_ptr_w_info_free_func)},
// bind function
BindContext<test_msgs::msg::Empty,
const std::shared_ptr<const test_msgs::msg::Empty> &>("bind_method"),
BindContext<test_msgs::msg::Empty, const std::shared_ptr<const test_msgs::msg::Empty> &,
const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter
);
void const_ref_shared_const_ptr_ta_free_func(const std::shared_ptr<const MyEmpty> &) {}
void const_ref_shared_const_ptr_ta_w_info_free_func(
const std::shared_ptr<const MyEmpty> &, const rclcpp::MessageInfo &)
{}
INSTANTIATE_TEST_SUITE_P(
ConstRefSharedConstPtrCallbackTests,
DispatchTestsWithTA,
::testing::Values(
// lambda
InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const std::shared_ptr<const MyEmpty> &) {})},
InstanceContext<MyTA>{"lambda_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const std::shared_ptr<const MyEmpty> &, const rclcpp::MessageInfo &) {})},
InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const std::shared_ptr<const test_msgs::msg::Empty> &) {})},
InstanceContext<MyTA>{"lambda_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_shared_const_ptr_ta_free_func)},
InstanceContext<MyTA>{"free_function_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_shared_const_ptr_ta_w_info_free_func)},
InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_shared_const_ptr_free_func)},
InstanceContext<MyTA>{"free_function_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
const_ref_shared_const_ptr_w_info_free_func)},
// bind function
BindContext<MyTA, const std::shared_ptr<const MyEmpty> &>("bind_method_ta"),
BindContext<MyTA, const std::shared_ptr<const MyEmpty> &, const rclcpp::MessageInfo &>(
"bind_method_ta_with_info"),
BindContext<MyTA, const std::shared_ptr<const test_msgs::msg::Empty> &>("bind_method"),
BindContext<MyTA, const std::shared_ptr<const test_msgs::msg::Empty> &,
const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter_with_ta
);
//
// Versions of `std::shared_ptr<MessageT>`
//
void shared_ptr_free_func(std::shared_ptr<test_msgs::msg::Empty>) {}
void shared_ptr_w_info_free_func(
std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &)
{}
INSTANTIATE_TEST_SUITE_P(
SharedPtrCallbackTests,
DispatchTests,
::testing::Values(
// lambda
InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::shared_ptr<test_msgs::msg::Empty>) {})},
InstanceContext{"lambda_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
shared_ptr_free_func)},
InstanceContext{"free_function_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
shared_ptr_w_info_free_func)},
// bind function
BindContext<test_msgs::msg::Empty, std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
BindContext<test_msgs::msg::Empty, std::shared_ptr<test_msgs::msg::Empty>,
const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter
);
void shared_ptr_ta_free_func(std::shared_ptr<MyEmpty>) {}
void shared_ptr_ta_w_info_free_func(
std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &)
{}
INSTANTIATE_TEST_SUITE_P(
SharedPtrCallbackTests,
DispatchTestsWithTA,
::testing::Values(
// lambda
InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<MyEmpty>) {})},
InstanceContext<MyTA>{"lambda_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &) {})},
InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<test_msgs::msg::Empty>) {})},
InstanceContext<MyTA>{"lambda_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
[](std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_ptr_ta_free_func)},
InstanceContext<MyTA>{"free_function_ta_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_ptr_ta_w_info_free_func)},
InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_ptr_free_func)},
InstanceContext<MyTA>{"free_function_with_info",
rclcpp::AnySubscriptionCallback<MyTA>().set(
shared_ptr_w_info_free_func)},
// bind function
BindContext<MyTA, std::shared_ptr<MyEmpty>>("bind_method_ta"),
BindContext<MyTA, std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &>(
"bind_method_ta_with_info"),
BindContext<MyTA, std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
BindContext<MyTA, std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter_with_ta
);