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728 lines (602 loc) · 19.3 KB
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// Copyright 2015 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 <string>
#include "rclcpp/function_traits.hpp"
int func_no_args()
{
return 0;
}
// NOLINTNEXTLINE(readability/casting)
int func_one_int(int)
{
return 1;
}
int func_two_ints(int, int)
{
return 2;
}
int func_one_int_one_char(int, char)
{
return 3;
}
struct FunctionObjectNoArgs
{
int operator()() const
{
return 0;
}
};
struct FunctionObjectOneInt
{
int operator()(int) const
{
return 1;
}
};
struct FunctionObjectTwoInts
{
int operator()(int, int) const
{
return 2;
}
};
struct FunctionObjectOneIntOneChar
{
int operator()(int, char) const
{
return 3;
}
};
struct ObjectMember
{
int callback_one_bool(bool a)
{
(void)a;
return 7;
}
int callback_two_bools(bool a, bool b)
{
(void)a;
(void)b;
return 8;
}
int callback_one_bool_one_float(bool a, float b)
{
(void)a;
(void)b;
return 9;
}
};
template<
typename FunctorT,
std::size_t Arity = 0,
typename std::enable_if<
rclcpp::function_traits::arity_comparator<Arity, FunctorT>::value>::type * = nullptr
>
int func_accept_callback(FunctorT callback)
{
return callback();
}
template<
typename FunctorT,
typename std::enable_if<
rclcpp::function_traits::check_arguments<FunctorT, int>::value
>::type * = nullptr
>
int func_accept_callback(FunctorT callback)
{
int a = 4;
return callback(a);
}
template<
typename FunctorT,
typename std::enable_if<
rclcpp::function_traits::check_arguments<FunctorT, int, int>::value
>::type * = nullptr
>
int func_accept_callback(FunctorT callback)
{
int a = 5;
int b = 6;
return callback(a, b);
}
template<
typename FunctorT,
typename std::enable_if<
rclcpp::function_traits::check_arguments<FunctorT, int, char>::value
>::type * = nullptr
>
int func_accept_callback(FunctorT callback)
{
int a = 7;
char b = 8;
return callback(a, b);
}
template<
typename FunctorT,
std::size_t Arity = 0,
typename std::enable_if<
rclcpp::function_traits::arity_comparator<Arity, FunctorT>::value
>::type * = nullptr,
typename std::enable_if<
std::is_same<
typename rclcpp::function_traits::function_traits<FunctorT>::return_type,
double
>::value
>::type * = nullptr
>
double func_accept_callback_return_type(FunctorT callback)
{
return callback();
}
template<
typename FunctorT,
std::size_t Arity = 0,
typename std::enable_if<
rclcpp::function_traits::arity_comparator<Arity, FunctorT>::value
>::type * = nullptr,
typename std::enable_if<
std::is_same<
typename rclcpp::function_traits::function_traits<FunctorT>::return_type,
std::string
>::value
>::type * = nullptr
>
std::string func_accept_callback_return_type(FunctorT callback)
{
return callback();
}
/*
Tests that funcion_traits calculates arity of several functors.
*/
TEST(TestFunctionTraits, arity) {
// Test regular functions
static_assert(
rclcpp::function_traits::function_traits<decltype(func_no_args)>::arity == 0,
"Functor does not accept arguments");
static_assert(
rclcpp::function_traits::function_traits<decltype(func_one_int)>::arity == 1,
"Functor only accepts one argument");
static_assert(
rclcpp::function_traits::function_traits<decltype(func_two_ints)>::arity == 2,
"Functor only accepts two arguments");
static_assert(
rclcpp::function_traits::function_traits<decltype(func_one_int_one_char)>::arity == 2,
"Functor only accepts two arguments");
// Test lambdas
auto lambda_no_args = []() {
return 0;
};
auto lambda_one_int = [](int one) {
(void)one;
return 1;
};
auto lambda_two_ints = [](int one, int two) {
(void)one;
(void)two;
return 2;
};
auto lambda_one_int_one_char = [](int one, char two) {
(void)one;
(void)two;
return 3;
};
static_assert(
rclcpp::function_traits::function_traits<decltype(lambda_no_args)>::arity == 0,
"Functor does not accept arguments");
static_assert(
rclcpp::function_traits::function_traits<decltype(lambda_one_int)>::arity == 1,
"Functor only accepts one argument");
static_assert(
rclcpp::function_traits::function_traits<decltype(lambda_two_ints)>::arity == 2,
"Functor only accepts two arguments");
static_assert(
rclcpp::function_traits::function_traits<decltype(lambda_one_int_one_char)>::arity == 2,
"Functor only accepts two arguments");
// Test objects that have a call operator
static_assert(
rclcpp::function_traits::function_traits<FunctionObjectNoArgs>::arity == 0,
"Functor does not accept arguments");
static_assert(
rclcpp::function_traits::function_traits<FunctionObjectOneInt>::arity == 1,
"Functor only accepts one argument");
static_assert(
rclcpp::function_traits::function_traits<FunctionObjectTwoInts>::arity == 2,
"Functor only accepts two arguments");
static_assert(
rclcpp::function_traits::function_traits<FunctionObjectOneIntOneChar>::arity == 2,
"Functor only accepts two arguments");
}
/*
Tests that funcion_traits deducts the type of the arguments of several functors.
*/
TEST(TestFunctionTraits, argument_types) {
// Test regular functions
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(func_one_int)>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(func_two_ints)>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(func_two_ints)>::template argument_type<1>
>::value, "Functor accepts an int as second argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<
decltype(func_one_int_one_char)
>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
char,
rclcpp::function_traits::function_traits<
decltype(func_one_int_one_char)
>::template argument_type<1>
>::value, "Functor accepts a char as second argument");
// Test lambdas
auto lambda_one_int = [](int one) {
(void)one;
return 1;
};
auto lambda_two_ints = [](int one, int two) {
(void)one;
(void)two;
return 2;
};
auto lambda_one_int_one_char = [](int one, char two) {
(void)one;
(void)two;
return 3;
};
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(lambda_one_int)>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(lambda_two_ints)>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(lambda_two_ints)>::template argument_type<1>
>::value, "Functor accepts an int as second argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<
decltype(lambda_one_int_one_char)
>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
char,
rclcpp::function_traits::function_traits<
decltype(lambda_one_int_one_char)
>::template argument_type<1>
>::value, "Functor accepts a char as second argument");
// Test objects that have a call operator
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<FunctionObjectOneInt>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<FunctionObjectTwoInts>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<FunctionObjectTwoInts>::template argument_type<1>
>::value, "Functor accepts an int as second argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<
FunctionObjectOneIntOneChar
>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
char,
rclcpp::function_traits::function_traits<
FunctionObjectOneIntOneChar
>::template argument_type<1>
>::value, "Functor accepts a char as second argument");
ObjectMember object_member;
auto bind_one_bool = std::bind(
&ObjectMember::callback_one_bool, &object_member, std::placeholders::_1);
static_assert(
std::is_same<
bool,
rclcpp::function_traits::function_traits<decltype(bind_one_bool)>::template argument_type<0>
>::value, "Functor accepts a bool as first argument");
auto bind_two_bools = std::bind(
&ObjectMember::callback_two_bools, &object_member, std::placeholders::_1,
std::placeholders::_2);
static_assert(
std::is_same<
bool,
rclcpp::function_traits::function_traits<decltype(bind_two_bools)>::template argument_type<0>
>::value, "Functor accepts a bool as first argument");
static_assert(
std::is_same<
bool,
rclcpp::function_traits::function_traits<decltype(bind_two_bools)>::template argument_type<1>
>::value, "Functor accepts a bool as second argument");
auto bind_one_bool_one_float = std::bind(
&ObjectMember::callback_one_bool_one_float, &object_member, std::placeholders::_1,
std::placeholders::_2);
static_assert(
std::is_same<
bool,
rclcpp::function_traits::function_traits<
decltype(bind_one_bool_one_float)
>::template argument_type<0>
>::value, "Functor accepts a bool as first argument");
static_assert(
std::is_same<
float,
rclcpp::function_traits::function_traits<
decltype(bind_one_bool_one_float)
>::template argument_type<1>
>::value, "Functor accepts a float as second argument");
auto bind_one_int = std::bind(func_one_int, std::placeholders::_1);
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(bind_one_int)>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
auto bind_two_ints = std::bind(func_two_ints, std::placeholders::_1, std::placeholders::_2);
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(bind_two_ints)>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<decltype(bind_two_ints)>::template argument_type<1>
>::value, "Functor accepts an int as second argument");
auto bind_one_int_one_char = std::bind(
func_one_int_one_char, std::placeholders::_1, std::placeholders::_2);
static_assert(
std::is_same<
int,
rclcpp::function_traits::function_traits<
decltype(bind_one_int_one_char)
>::template argument_type<0>
>::value, "Functor accepts an int as first argument");
static_assert(
std::is_same<
char,
rclcpp::function_traits::function_traits<
decltype(bind_one_int_one_char)
>::template argument_type<1>
>::value, "Functor accepts a char as second argument");
}
/*
Tests that funcion_traits checks the types of the arguments of several functors.
*/
TEST(TestFunctionTraits, check_arguments) {
// Test regular functions
static_assert(
rclcpp::function_traits::check_arguments<decltype(func_one_int), int>::value,
"Functor accepts a single int as arguments");
static_assert(
!rclcpp::function_traits::check_arguments<decltype(func_one_int), char>::value,
"Functor does not accept a char as argument");
static_assert(
!rclcpp::function_traits::check_arguments<decltype(func_one_int), char, int>::value,
"Functor does not accept two arguments");
static_assert(
!rclcpp::function_traits::check_arguments<decltype(func_two_ints), int>::value,
"Functor does not accept a single int as argument, requires two ints");
static_assert(
rclcpp::function_traits::check_arguments<decltype(func_two_ints), int, int>::value,
"Functor accepts two ints as arguments");
static_assert(
!rclcpp::function_traits::check_arguments<decltype(func_two_ints), bool, int>::value,
"Functor does not accept a bool and an int as arguments, requires two ints");
static_assert(
!rclcpp::function_traits::check_arguments<decltype(func_two_ints), int, char>::value,
"Functor does not accept an int and a char as arguments, requires two ints");
static_assert(
rclcpp::function_traits::check_arguments<decltype(func_one_int_one_char), int, char>::value,
"Functor accepts an int and a char as arguments");
// Test lambdas
auto lambda_one_int = [](int one) {
(void)one;
return 1;
};
auto lambda_two_ints = [](int one, int two) {
(void)one;
(void)two;
return 2;
};
auto lambda_one_int_one_char = [](int one, char two) {
(void)one;
(void)two;
return 3;
};
static_assert(
rclcpp::function_traits::check_arguments<decltype(lambda_one_int), int>::value,
"Functor accepts an int as the only argument");
static_assert(
rclcpp::function_traits::check_arguments<decltype(lambda_two_ints), int, int>::value,
"Functor accepts two ints as arguments");
static_assert(
rclcpp::function_traits::check_arguments<decltype(lambda_one_int_one_char), int, char>::value,
"Functor accepts an int and a char as arguments");
// Test objects that have a call operator
static_assert(
rclcpp::function_traits::check_arguments<FunctionObjectOneInt, int>::value,
"Functor accepts an int as the only argument");
static_assert(
rclcpp::function_traits::check_arguments<FunctionObjectTwoInts, int, int>::value,
"Functor accepts two ints as arguments");
static_assert(
rclcpp::function_traits::check_arguments<FunctionObjectOneIntOneChar, int, char>::value,
"Functor accepts an int and a char as arguments");
ObjectMember object_member;
auto bind_one_bool = std::bind(
&ObjectMember::callback_one_bool, &object_member, std::placeholders::_1);
// Test std::bind functions
static_assert(
rclcpp::function_traits::check_arguments<decltype(bind_one_bool), bool>::value,
"Functor accepts a single bool as arguments");
}
/*
Tests that same_arguments work.
*/
TEST(TestFunctionTraits, same_arguments) {
auto lambda_one_int = [](int one) {
(void)one;
return 1;
};
auto lambda_two_ints = [](int one, int two) {
(void)one;
(void)two;
return 1;
};
static_assert(
rclcpp::function_traits::same_arguments<
decltype(lambda_one_int), decltype(func_one_int)
>::value,
"Lambda and function have the same arguments");
static_assert(
!rclcpp::function_traits::same_arguments<
decltype(lambda_two_ints), decltype(func_one_int)
>::value,
"Lambda and function have different arguments");
static_assert(
!rclcpp::function_traits::same_arguments<
decltype(func_one_int_one_char), decltype(func_two_ints)
>::value,
"Functions have different arguments");
static_assert(
!rclcpp::function_traits::same_arguments<
decltype(lambda_one_int), decltype(lambda_two_ints)
>::value,
"Lambdas have different arguments");
static_assert(
rclcpp::function_traits::same_arguments<FunctionObjectTwoInts, decltype(func_two_ints)>::value,
"Functor and function have the same arguments");
static_assert(
rclcpp::function_traits::same_arguments<
FunctionObjectTwoInts, decltype(lambda_two_ints)>::value,
"Functor and lambda have the same arguments");
}
TEST(TestFunctionTraits, return_type) {
// Test regular function
static_assert(
std::is_same<
rclcpp::function_traits::function_traits<decltype(func_no_args)>::return_type,
int
>::value,
"Functor return ints");
// Test lambda
auto lambda_one_int_return_double = [](int one) -> double {
(void)one;
return 1.0;
};
static_assert(
std::is_same<
rclcpp::function_traits::function_traits<
decltype(lambda_one_int_return_double)
>::return_type,
double
>::value,
"Lambda returns a double");
// Test objects that have a call operator
static_assert(
std::is_same<
rclcpp::function_traits::function_traits<FunctionObjectNoArgs>::return_type,
int
>::value,
"Functor return ints");
}
/*
Tests that functions are matched via SFINAE.
*/
TEST(TestFunctionTraits, sfinae_match) {
EXPECT_EQ(0, func_accept_callback(func_no_args));
EXPECT_EQ(1, func_accept_callback(func_one_int));
EXPECT_EQ(2, func_accept_callback(func_two_ints));
EXPECT_EQ(3, func_accept_callback(func_one_int_one_char));
auto lambda_no_args = []() {
return 0;
};
auto lambda_one_int = [](int one) {
(void)one;
return 1;
};
auto lambda_two_ints = [](int one, int two) {
(void)one;
(void)two;
return 2;
};
auto lambda_one_int_one_char = [](int one, char two) {
(void)one;
(void)two;
return 3;
};
EXPECT_EQ(0, func_accept_callback(lambda_no_args));
EXPECT_EQ(1, func_accept_callback(lambda_one_int));
EXPECT_EQ(2, func_accept_callback(lambda_two_ints));
EXPECT_EQ(3, func_accept_callback(lambda_one_int_one_char));
EXPECT_EQ(0, func_accept_callback(FunctionObjectNoArgs()));
EXPECT_EQ(1, func_accept_callback(FunctionObjectOneInt()));
EXPECT_EQ(2, func_accept_callback(FunctionObjectTwoInts()));
EXPECT_EQ(3, func_accept_callback(FunctionObjectOneIntOneChar()));
auto lambda_no_args_double = []() -> double {
return 123.45;
};
auto lambda_no_args_string = []() -> std::string {
return std::string("foo");
};
EXPECT_EQ(123.45, func_accept_callback_return_type(lambda_no_args_double));
EXPECT_EQ("foo", func_accept_callback_return_type(lambda_no_args_string));
}
class TestMember : public ::testing::Test
{
public:
void MemberFunctor(int, float, std::string) {}
};
/*
Regression test for https://github.com/ros2/rclcpp/issues/479, specific to classes using the
TEST_F GTest macro.
*/
TEST_F(TestMember, bind_member_functor) {
auto bind_member_functor = std::bind(&TestMember::MemberFunctor, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
static_assert(
rclcpp::function_traits::check_arguments<decltype(bind_member_functor), int, float,
std::string>::value,
"Functor accepts an int, a float and a string as arguments");
}