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test_interface_traits.cpp
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78 lines (68 loc) · 2.21 KB
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// Copyright 2019 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 <memory>
#include <utility>
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/node_interfaces/node_base_interface_traits.hpp"
#include "rclcpp/node_interfaces/node_base.hpp"
#include "rclcpp/node.hpp"
class MyNode
{
public:
std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> get_node_base_interface() const
{
rclcpp::NodeOptions options;
return std::make_shared<rclcpp::node_interfaces::NodeBase>(
"my_node_name",
"my_node_namespace",
rclcpp::contexts::get_global_default_context(),
*options.get_rcl_node_options(),
options.use_intra_process_comms(),
options.enable_topic_statistics());
}
};
class WrongNode
{
public:
std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> not_get_node_base_interface()
{
return nullptr;
}
};
template<class T, typename std::enable_if<
rclcpp::node_interfaces::has_node_base_interface<T>::value
>::type * = nullptr>
void get_node_name(const T & nodelike)
{
ASSERT_STREQ("my_node_name", nodelike.get_node_base_interface()->get_name());
}
class TestInterfaceTraits : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
static void TearDownTestCase()
{
rclcpp::shutdown();
}
};
TEST_F(TestInterfaceTraits, has_node_base_interface) {
ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<MyNode>::value);
ASSERT_FALSE(rclcpp::node_interfaces::has_node_base_interface<WrongNode>::value);
ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<rclcpp::Node>::value);
get_node_name(MyNode());
}