forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtest_loaned_message.cpp
More file actions
83 lines (67 loc) · 2.5 KB
/
test_loaned_message.cpp
File metadata and controls
83 lines (67 loc) · 2.5 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
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
// 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 "rclcpp/loaned_message.hpp"
#include "rclcpp/rclcpp.hpp"
#include "test_msgs/msg/basic_types.hpp"
using MessageT = test_msgs::msg::BasicTypes;
using LoanedMessageT = rclcpp::LoanedMessage<MessageT>;
class TestLoanedMessage : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
static void TearDownTestCase()
{
rclcpp::shutdown();
}
};
TEST_F(TestLoanedMessage, initialize) {
auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
auto loaned_msg = rclcpp::LoanedMessage<MessageT>(pub.get(), pub->get_allocator());
ASSERT_TRUE(loaned_msg.is_valid());
loaned_msg.get().float32_value = 42.0f;
ASSERT_EQ(42.0f, loaned_msg.get().float32_value);
SUCCEED();
}
TEST_F(TestLoanedMessage, loan_from_pub) {
auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
auto loaned_msg = pub->borrow_loaned_message();
ASSERT_TRUE(loaned_msg.is_valid());
loaned_msg.get().float64_value = 42.0f;
ASSERT_EQ(42.0f, loaned_msg.get().float64_value);
SUCCEED();
}
TEST_F(TestLoanedMessage, release) {
auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
MessageT * msg = nullptr;
{
auto loaned_msg = pub->borrow_loaned_message();
ASSERT_TRUE(loaned_msg.is_valid());
loaned_msg.get().float64_value = 42.0f;
ASSERT_EQ(42.0f, loaned_msg.get().float64_value);
msg = loaned_msg.release();
// call destructor implicitly.
// destructor not allowed to free memory because of not having ownership
// of the data after a call to release.
}
ASSERT_EQ(42.0f, msg->float64_value);
SUCCEED();
}