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test_typesupport_helpers.cpp
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77 lines (64 loc) · 2.62 KB
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// Copyright 2018, Bosch Software Innovations GmbH.
// Copyright 2021, Apex.AI 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 <gmock/gmock.h>
#include <memory>
#include <string>
#include <utility>
#include "rcpputils/shared_library.hpp"
#include "rclcpp/typesupport_helpers.hpp"
using namespace ::testing; // NOLINT
TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_no_type) {
EXPECT_ANY_THROW(
rclcpp::get_typesupport_library("just_a_package_name", "rosidl_typesupport_cpp"));
}
TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_slash_at_the_start_only) {
EXPECT_ANY_THROW(
rclcpp::get_typesupport_library("/name_with_slash_at_start", "rosidl_typesupport_cpp"));
}
TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_slash_at_the_end_only) {
EXPECT_ANY_THROW(
rclcpp::get_typesupport_library("name_with_slash_at_end/", "rosidl_typesupport_cpp"));
}
TEST(TypesupportHelpersTest, throws_exception_if_library_cannot_be_found) {
EXPECT_THROW(
rclcpp::get_typesupport_library("invalid/message", "rosidl_typesupport_cpp"),
std::runtime_error);
}
TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_legacy_library) {
try {
auto library = rclcpp::get_typesupport_library(
"test_msgs/BasicTypes", "rosidl_typesupport_cpp");
auto string_typesupport = rclcpp::get_typesupport_handle(
"test_msgs/BasicTypes", "rosidl_typesupport_cpp", *library);
EXPECT_THAT(
std::string(string_typesupport->typesupport_identifier),
ContainsRegex("rosidl_typesupport"));
} catch (const std::exception & e) {
FAIL() << e.what();
}
}
TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
try {
auto library = rclcpp::get_typesupport_library(
"test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp");
auto string_typesupport = rclcpp::get_typesupport_handle(
"test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp", *library);
EXPECT_THAT(
std::string(string_typesupport->typesupport_identifier),
ContainsRegex("rosidl_typesupport"));
} catch (const std::runtime_error & e) {
FAIL() << e.what();
}
}