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test_service.cpp
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107 lines (91 loc) · 2.52 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/srv/list_parameters.hpp"
class TestService : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
void SetUp()
{
node = std::make_shared<rclcpp::Node>("my_node", "/ns");
}
void TearDown()
{
node.reset();
}
rclcpp::Node::SharedPtr node;
};
class TestServiceSub : 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;
};
/*
Testing service construction and destruction.
*/
TEST_F(TestService, construction_and_destruction) {
using rcl_interfaces::srv::ListParameters;
auto callback =
[](const ListParameters::Request::SharedPtr, ListParameters::Response::SharedPtr) {
};
{
auto service = node->create_service<ListParameters>("service", callback);
}
{
ASSERT_THROW(
{
auto service = node->create_service<ListParameters>("invalid_service?", callback);
}, rclcpp::exceptions::InvalidServiceNameError);
}
}
/*
Testing service construction and destruction for subnodes.
*/
TEST_F(TestServiceSub, construction_and_destruction) {
using rcl_interfaces::srv::ListParameters;
auto callback =
[](const ListParameters::Request::SharedPtr, ListParameters::Response::SharedPtr) {
};
{
auto service = subnode->create_service<ListParameters>("service", callback);
EXPECT_STREQ(service->get_service_name(), "/ns/sub_ns/service");
}
{
ASSERT_THROW(
{
auto service = node->create_service<ListParameters>("invalid_service?", callback);
}, rclcpp::exceptions::InvalidServiceNameError);
}
}