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test_publisher.cpp
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213 lines (191 loc) · 5.43 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 <string>
#include <memory>
#include "rclcpp/exceptions.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcl_interfaces/msg/intra_process_message.hpp"
class TestPublisher : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
{
node = std::make_shared<rclcpp::Node>("my_node", "/ns", node_options);
}
void TearDown()
{
node.reset();
}
rclcpp::Node::SharedPtr node;
};
class TestPublisherSub : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
}
void SetUp()
{
node = std::make_shared<rclcpp::Node>("my_node", "/ns");
subnode = node->create_sub_node("sub_ns");
}
void TearDown()
{
node.reset();
}
rclcpp::Node::SharedPtr node;
rclcpp::Node::SharedPtr subnode;
};
static constexpr rmw_qos_profile_t invalid_qos_profile()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = 1;
profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
return profile;
}
/*
Testing publisher construction and destruction.
*/
TEST_F(TestPublisher, construction_and_destruction) {
initialize();
using rcl_interfaces::msg::IntraProcessMessage;
{
auto publisher = node->create_publisher<IntraProcessMessage>("topic", 42);
(void)publisher;
}
{
ASSERT_THROW({
auto publisher = node->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
}, rclcpp::exceptions::InvalidTopicNameError);
}
}
/*
Testing publisher creation signatures.
*/
TEST_F(TestPublisher, various_creation_signatures) {
initialize();
using rcl_interfaces::msg::IntraProcessMessage;
{
auto publisher = node->create_publisher<IntraProcessMessage>("topic", 42);
(void)publisher;
}
{
auto publisher = node->create_publisher<IntraProcessMessage>("topic", rclcpp::QoS(42));
(void)publisher;
}
{
auto publisher =
node->create_publisher<IntraProcessMessage>("topic", rclcpp::QoS(rclcpp::KeepLast(42)));
(void)publisher;
}
{
auto publisher =
node->create_publisher<IntraProcessMessage>("topic", rclcpp::QoS(rclcpp::KeepAll()));
(void)publisher;
}
{
auto publisher =
node->create_publisher<IntraProcessMessage>("topic", 42, rclcpp::PublisherOptions());
(void)publisher;
}
{
auto publisher =
rclcpp::create_publisher<IntraProcessMessage>(node, "topic", 42, rclcpp::PublisherOptions());
(void)publisher;
}
// Now deprecated functions.
#if !defined(_WIN32)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#else // !defined(_WIN32)
# pragma warning(push)
# pragma warning(disable: 4996)
#endif
{
auto publisher = node->create_publisher<IntraProcessMessage>("topic");
(void)publisher;
}
{
auto publisher = node->create_publisher<IntraProcessMessage>(
"topic",
42,
std::make_shared<std::allocator<IntraProcessMessage>>());
(void)publisher;
}
{
auto publisher = node->create_publisher<IntraProcessMessage>("topic", rmw_qos_profile_default);
(void)publisher;
}
{
auto publisher = node->create_publisher<IntraProcessMessage>(
"topic",
rmw_qos_profile_default,
std::make_shared<std::allocator<IntraProcessMessage>>());
(void)publisher;
}
#if !defined(_WIN32)
# pragma GCC diagnostic pop
#else // !defined(_WIN32)
# pragma warning(pop)
#endif
}
/*
Testing publisher with intraprocess enabled and invalid QoS
*/
TEST_F(TestPublisher, intraprocess_with_invalid_qos) {
initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
rmw_qos_profile_t qos = invalid_qos_profile();
using rcl_interfaces::msg::IntraProcessMessage;
{
#if !defined(_WIN32)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#else // !defined(_WIN32)
# pragma warning(push)
# pragma warning(disable: 4996)
#endif
ASSERT_THROW(
{auto publisher = node->create_publisher<IntraProcessMessage>("topic", qos);},
rclcpp::exceptions::InvalidParametersException);
#if !defined(_WIN32)
# pragma GCC diagnostic pop
#else // !defined(_WIN32)
# pragma warning(pop)
#endif
}
}
/*
Testing publisher construction and destruction for subnodes.
*/
TEST_F(TestPublisherSub, construction_and_destruction) {
using rcl_interfaces::msg::IntraProcessMessage;
{
auto publisher = subnode->create_publisher<IntraProcessMessage>("topic", 42);
EXPECT_STREQ(publisher->get_topic_name(), "/ns/sub_ns/topic");
}
{
auto publisher = subnode->create_publisher<IntraProcessMessage>("/topic", 42);
EXPECT_STREQ(publisher->get_topic_name(), "/topic");
}
{
ASSERT_THROW({
auto publisher = subnode->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
}, rclcpp::exceptions::InvalidTopicNameError);
}
}