forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtest_message_memory_strategy.cpp
More file actions
58 lines (47 loc) · 2.33 KB
/
test_message_memory_strategy.cpp
File metadata and controls
58 lines (47 loc) · 2.33 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
// 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/message_memory_strategy.hpp"
#include "test_msgs/msg/empty.hpp"
TEST(TestMemoryStrategies, construct_destruct) {
rclcpp::message_memory_strategy::MessageMemoryStrategy<test_msgs::msg::Empty> memory_strategy1;
EXPECT_NE(nullptr, memory_strategy1.message_allocator_);
EXPECT_NE(nullptr, memory_strategy1.serialized_message_allocator_);
EXPECT_NE(nullptr, memory_strategy1.buffer_allocator_);
auto allocator = std::make_shared<std::allocator<void>>();
rclcpp::message_memory_strategy::MessageMemoryStrategy<test_msgs::msg::Empty> memory_strategy2(
allocator);
EXPECT_NE(nullptr, memory_strategy2.message_allocator_);
EXPECT_NE(nullptr, memory_strategy2.serialized_message_allocator_);
EXPECT_NE(nullptr, memory_strategy2.buffer_allocator_);
}
TEST(TestMemoryStrategies, standard_allocation) {
auto memory_strategy =
rclcpp::message_memory_strategy::MessageMemoryStrategy<
test_msgs::msg::Empty>::create_default();
ASSERT_NE(nullptr, memory_strategy);
auto borrowed_message = memory_strategy->borrow_message();
ASSERT_NE(nullptr, borrowed_message);
EXPECT_NO_THROW(memory_strategy->return_message(borrowed_message));
auto serialized_message = memory_strategy->borrow_serialized_message();
ASSERT_NE(nullptr, serialized_message);
EXPECT_EQ(0u, serialized_message->capacity());
EXPECT_NO_THROW(memory_strategy->return_serialized_message(serialized_message));
memory_strategy->set_default_buffer_capacity(42);
serialized_message = memory_strategy->borrow_serialized_message();
ASSERT_NE(nullptr, serialized_message);
EXPECT_EQ(42u, serialized_message->capacity());
EXPECT_NO_THROW(memory_strategy->return_serialized_message(serialized_message));
}