forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtest_node_global_args.cpp
More file actions
59 lines (50 loc) · 1.78 KB
/
test_node_global_args.cpp
File metadata and controls
59 lines (50 loc) · 1.78 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
59
// Copyright 2018 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 <string>
#include <memory>
#include <vector>
#include "rclcpp/exceptions.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/rclcpp.hpp"
class TestNodeWithGlobalArgs : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
const char * const args[] = {"proc", "__node:=global_node_name"};
rclcpp::init(2, args);
}
};
TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {
auto options = rclcpp::NodeOptions()
.arguments({"__node:=local_arguments_test"});
auto node = rclcpp::Node::make_shared("orig_name", options);
EXPECT_STREQ("local_arguments_test", node->get_name());
}
TEST_F(TestNodeWithGlobalArgs, use_or_ignore_global_arguments) {
{ // Don't use global args
auto options = rclcpp::NodeOptions()
.use_global_arguments(false);
auto node = rclcpp::Node::make_shared("orig_name", options);
EXPECT_STREQ("orig_name", node->get_name());
}
{ // Do use global args
auto options = rclcpp::NodeOptions()
.use_global_arguments(true);
auto node = rclcpp::Node::make_shared("orig_name", options);
EXPECT_STREQ("global_node_name", node->get_name());
}
}