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test_guard_condition.cpp
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104 lines (91 loc) · 2.5 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 <memory>
#include "rclcpp/rclcpp.hpp"
#include "../mocking_utils/patch.hpp"
class TestGuardCondition : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
};
/*
* Testing normal construction and destruction.
*/
TEST_F(TestGuardCondition, construction_and_destruction) {
{
auto gc = std::make_shared<rclcpp::GuardCondition>();
(void)gc;
}
{
// invalid context (nullptr)
ASSERT_THROW(
{
auto gc = std::make_shared<rclcpp::GuardCondition>(nullptr);
(void)gc;
}, std::invalid_argument);
}
{
// invalid context (uninitialized)
auto context = std::make_shared<rclcpp::Context>();
ASSERT_THROW(
{
auto gc = std::make_shared<rclcpp::GuardCondition>(context);
(void)gc;
}, rclcpp::exceptions::RCLInvalidArgument);
}
{
auto mock = mocking_utils::inject_on_return(
"lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
auto gc = std::make_shared<rclcpp::GuardCondition>();
// This just logs an error on destruction
EXPECT_NO_THROW(gc.reset());
}
}
/*
* Testing context accessor.
*/
TEST_F(TestGuardCondition, get_context) {
{
auto gc = std::make_shared<rclcpp::GuardCondition>();
gc->get_context();
}
}
/*
* Testing rcl guard condition accessor.
*/
TEST_F(TestGuardCondition, get_rcl_guard_condition) {
{
auto gc = std::make_shared<rclcpp::GuardCondition>();
gc->get_rcl_guard_condition();
}
}
/*
* Testing tigger method.
*/
TEST_F(TestGuardCondition, trigger) {
{
auto gc = std::make_shared<rclcpp::GuardCondition>();
EXPECT_NO_THROW(gc->trigger());
{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
auto gc = std::make_shared<rclcpp::GuardCondition>();
EXPECT_THROW(gc->trigger(), rclcpp::exceptions::RCLError);
}
}
}