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test_subscription_traits.cpp
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199 lines (169 loc) · 6.68 KB
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// Copyright 2017 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 "rcl/types.h"
#include "rclcpp/allocator/allocator_common.hpp"
#include "rclcpp/serialized_message.hpp"
#include "rclcpp/subscription_traits.hpp"
#include "test_msgs/msg/empty.hpp"
void serialized_callback_copy(rcl_serialized_message_t unused)
{
(void) unused;
}
void serialized_callback_shared_ptr(std::shared_ptr<rcl_serialized_message_t> unused)
{
(void) unused;
}
void not_serialized_callback(char * unused)
{
(void) unused;
}
void not_serialized_shared_ptr_callback(std::shared_ptr<char> unused)
{
(void) unused;
}
void not_serialized_unique_ptr_callback(
test_msgs::msg::Empty::UniquePtrWithDeleter<rclcpp::allocator::Deleter<std::allocator<void>,
test_msgs::msg::Empty>> unused)
{
(void) unused;
}
void rclcpp_serialized_callback_copy(rclcpp::SerializedMessage unused)
{
(void) unused;
}
void rclcpp_serialized_callback_shared_ptr(std::shared_ptr<rclcpp::SerializedMessage> unused)
{
(void) unused;
}
TEST(TestSubscriptionTraits, is_serialized_callback) {
// Test regular functions
auto cb1 = &serialized_callback_copy;
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb1)>::value == false,
"passing a rcl_serialized_message_t * is not a serialized callback");
auto cb2 = &serialized_callback_shared_ptr;
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb2)>::value == false,
"passing a std::shared_ptr<rcl_serialized_message_t> is not a serialized callback");
auto cb3 = ¬_serialized_callback;
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb3)>::value == false,
"passing a char * is not a serialized callback");
auto cb4 = ¬_serialized_shared_ptr_callback;
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb4)>::value == false,
"passing a std::shared_tr<char> is not a serialized callback");
auto cb5 = [](rcl_serialized_message_t unused) -> void
{
(void) unused;
};
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb5)>::value == false,
"passing rcl_serialized_message_t is not a serialized callback");
using MessageT = test_msgs::msg::Empty;
using MessageTAllocator = std::allocator<void>;
using MessageTDeallocator = rclcpp::allocator::Deleter<MessageTAllocator, MessageT>;
auto cb6 = [](MessageT::UniquePtrWithDeleter<MessageTDeallocator> unique_msg_ptr) -> void
{
(void) unique_msg_ptr;
};
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb6)>::value == false,
"passing a std::unique_ptr of test_msgs::msg::Empty is not a serialized callback");
auto cb7 = ¬_serialized_unique_ptr_callback;
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb7)>::value == false,
"passing a fancy unique_ptr of test_msgs::msg::Empty is not a serialized callback");
auto cb8 = &rclcpp_serialized_callback_copy;
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb8)>::value == true,
"rclcpp::SerializedMessage in a first argument callback makes it a serialized callback");
auto cb9 = &rclcpp_serialized_callback_shared_ptr;
static_assert(
rclcpp::subscription_traits::is_serialized_callback<decltype(cb9)>::value == true,
"std::shared_ptr<rclcpp::SerializedMessage> in a callback makes it a serialized callback");
}
TEST(TestSubscriptionTraits, callback_messages) {
static_assert(
std::is_same<
std::shared_ptr<char>,
rclcpp::function_traits::function_traits<
decltype(not_serialized_shared_ptr_callback)
>::template argument_type<0>
>::value, "wrong!");
static_assert(
std::is_same<
char,
rclcpp::subscription_traits::extract_message_type<
rclcpp::function_traits::function_traits<
decltype(not_serialized_shared_ptr_callback)
>::template argument_type<0>
>::type
>::value, "wrong!");
auto cb1 = &serialized_callback_copy;
static_assert(
std::is_same<
rcl_serialized_message_t,
rclcpp::subscription_traits::has_message_type<decltype(cb1)>::type>::value,
"serialized callback message type is rcl_serialized_message_t");
auto cb2 = &serialized_callback_shared_ptr;
static_assert(
std::is_same<
rcl_serialized_message_t,
rclcpp::subscription_traits::has_message_type<decltype(cb2)>::type>::value,
"serialized callback message type is rcl_serialized_message_t");
auto cb3 = ¬_serialized_callback;
static_assert(
std::is_same<
char *,
rclcpp::subscription_traits::has_message_type<decltype(cb3)>::type>::value,
"not serialized callback message type is char");
auto cb4 = ¬_serialized_shared_ptr_callback;
static_assert(
std::is_same<
char,
rclcpp::subscription_traits::has_message_type<decltype(cb4)>::type>::value,
"not serialized shared_ptr callback message type is std::shared_ptr<char>");
auto cb5 = [](rcl_serialized_message_t unused) -> void
{
(void) unused;
};
static_assert(
std::is_same<
rcl_serialized_message_t,
rclcpp::subscription_traits::has_message_type<decltype(cb5)>::type>::value,
"serialized callback message type is rcl_serialized_message_t");
using MessageT = test_msgs::msg::Empty;
using MessageTAllocator = std::allocator<MessageT>;
using MessageTDeallocator = rclcpp::allocator::Deleter<MessageTAllocator, MessageT>;
auto cb6 = [](std::unique_ptr<MessageT, MessageTDeallocator> unique_msg_ptr) -> void
{
(void) unique_msg_ptr;
};
static_assert(
std::is_same<
test_msgs::msg::Empty,
rclcpp::subscription_traits::has_message_type<decltype(cb6)>::type>::value,
"passing a std::unique_ptr of test_msgs::msg::Empty has message type Empty");
auto cb7 = ¬_serialized_unique_ptr_callback;
static_assert(
std::is_same<
test_msgs::msg::Empty,
rclcpp::subscription_traits::has_message_type<decltype(cb7)>::type>::value,
"passing a fancy std::unique_ptr of test_msgs::msg::Empty has message type Empty");
}