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test_executor.cpp
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62 lines (53 loc) · 1.48 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 <algorithm>
#include <chrono>
#include <limits>
#include <memory>
#include <string>
#include "rcl/error_handling.h"
#include "rcl/time.h"
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/rclcpp.hpp"
using namespace std::chrono_literals;
class TestExecutors : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
void SetUp()
{
node = std::make_shared<rclcpp::Node>("my_node");
}
void TearDown()
{
node.reset();
}
rclcpp::Node::SharedPtr node;
};
// Make sure that executors detach from nodes when destructing
TEST_F(TestExecutors, detachOnDestruction) {
{
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
}
{
rclcpp::executors::SingleThreadedExecutor executor;
EXPECT_NO_THROW(executor.add_node(node));
}
}