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Reformat type_support testing
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Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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@Blast545
Blast545 committed Sep 11, 2020
1 parent 35f474d commit 811ad25
Showing 1 changed file with 66 additions and 67 deletions.
133 changes: 66 additions & 67 deletions rclcpp/test/rclcpp/test_type_support.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,13 +35,29 @@ class TestTypeSupport : public ::testing::Test
rclcpp::shutdown();
}

protected:
void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
::testing::AssertionResult test_type_support_init_fini(const rosidl_service_type_support_t * ts)
{
node = std::make_shared<rclcpp::Node>("my_node", "/ns", node_options);
rcl_service_t service_handle = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
&service_handle,
node->get_node_base_interface()->get_rcl_node_handle(),
ts, "base_node_service", &service_options);
if (ret != RCL_RET_OK) {
return ::testing::AssertionFailure() << "Failed ts init";
}
EXPECT_EQ(
RCL_RET_OK, rcl_service_fini(
&service_handle,
node->get_node_base_interface()->get_rcl_node_handle()));
if (ret != RCL_RET_OK) {
return ::testing::AssertionFailure() << "Failed ts fini";
}
return ::testing::AssertionSuccess();
}

rclcpp::Node::SharedPtr node;
protected:
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("my_node", "/ns");
};

const rcl_publisher_options_t PublisherOptions()
Expand Down Expand Up @@ -112,7 +128,6 @@ class TestTSListParametersResult : public rclcpp::PublisherBase
Test that the publisher is created properly for different msg typesupport
*/
TEST_F(TestTypeSupport, basic_getters) {
initialize();
{
auto publisher = TestTSParameterEvent(node.get());
std::shared_ptr<const rcl_publisher_t> publisher_handle = publisher.get_publisher_handle();
Expand All @@ -135,68 +150,52 @@ TEST_F(TestTypeSupport, basic_getters) {
}
}

void test_type_support_init_fini(const rosidl_service_type_support_t * ts)
{
auto node_handle_int = rclcpp::Node::make_shared("base_node");
rcl_service_t service_handle = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_ret_t ret = rcl_service_init(
&service_handle,
node_handle_int->get_node_base_interface()->get_rcl_node_handle(),
ts, "base_node_service", &service_options);
if (ret != RCL_RET_OK) {
FAIL();
return;
}
EXPECT_EQ(
RCL_RET_OK, rcl_service_fini(
&service_handle,
node_handle_int->get_node_base_interface()->get_rcl_node_handle()));
/* Testing type support getters */
TEST_F(TestTypeSupport, test_service_ts_get_params_srv) {
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_get_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
EXPECT_TRUE(test_type_support_init_fini(ts));
}

/* Testing type support getters */
TEST_F(TestTypeSupport, test_service_getters) {
initialize();
{
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_get_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
test_type_support_init_fini(ts);
}
{
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_get_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
test_type_support_init_fini(ts);
}
{
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_get_parameter_types_srv_type_support();
EXPECT_NE(nullptr, ts);
test_type_support_init_fini(ts);
}
{
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_set_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
test_type_support_init_fini(ts);
}
{
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_list_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
test_type_support_init_fini(ts);
}
{
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_describe_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
test_type_support_init_fini(ts);
}
{
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_set_parameters_atomically_srv_type_support();
EXPECT_NE(nullptr, ts);
test_type_support_init_fini(ts);
}
TEST_F(TestTypeSupport, test_service_ts_get_params_srv_type) {
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_get_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
EXPECT_TRUE(test_type_support_init_fini(ts));
}

TEST_F(TestTypeSupport, test_service_ts_get_parameters_types_srv) {
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_get_parameter_types_srv_type_support();
EXPECT_NE(nullptr, ts);
EXPECT_TRUE(test_type_support_init_fini(ts));
}

TEST_F(TestTypeSupport, test_service_ts_set_params_srv) {
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_set_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
EXPECT_TRUE(test_type_support_init_fini(ts));
}

TEST_F(TestTypeSupport, test_service_ts_list_params_srv) {
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_list_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
EXPECT_TRUE(test_type_support_init_fini(ts));
}

TEST_F(TestTypeSupport, test_service_ts_describe_params_srv) {
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_describe_parameters_srv_type_support();
EXPECT_NE(nullptr, ts);
EXPECT_TRUE(test_type_support_init_fini(ts));
}

TEST_F(TestTypeSupport, test_service_ts_set_params_atomically_srv) {
const rosidl_service_type_support_t * ts =
rclcpp::type_support::get_set_parameters_atomically_srv_type_support();
EXPECT_NE(nullptr, ts);
EXPECT_TRUE(test_type_support_init_fini(ts));
}

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