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Fix tests
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Signed-off-by: methylDragon <methylDragon@gmail.com>
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@methylDragon
methylDragon committed Nov 10, 2022
1 parent b1796db commit 03aed20
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Showing 3 changed files with 83 additions and 112 deletions.
126 changes: 58 additions & 68 deletions rclcpp/test/rclcpp/node_interfaces/test_node_interface_handle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,19 +38,18 @@ TEST_F(TestNodeInterfaceHandle, nh_init) {
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");

auto empty_nh = std::make_shared<rclcpp::node_interfaces::NodeInterfaceHandle<>>();
EXPECT_EQ(nullptr, empty_nh->get_node_base_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_clock_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_graph_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_logging_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_timers_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_topics_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_services_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_waitables_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_parameters_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_time_source_interface());

auto empty_nh_from_standalone = rclcpp::get_node_handle();
auto empty_nh_from_standalone = rclcpp::get_node_interface_handle<
rclcpp::node_interfaces::Base,
rclcpp::node_interfaces::Clock,
rclcpp::node_interfaces::Graph,
rclcpp::node_interfaces::Logging,
rclcpp::node_interfaces::Timers,
rclcpp::node_interfaces::Topics,
rclcpp::node_interfaces::Services,
rclcpp::node_interfaces::Waitables,
rclcpp::node_interfaces::Parameters,
rclcpp::node_interfaces::TimeSource,
>();
EXPECT_EQ(nullptr, empty_nh_from_standalone->get_node_base_interface());
EXPECT_EQ(nullptr, empty_nh_from_standalone->get_node_clock_interface());
EXPECT_EQ(nullptr, empty_nh_from_standalone->get_node_graph_interface());
Expand All @@ -63,67 +62,71 @@ TEST_F(TestNodeInterfaceHandle, nh_init) {
EXPECT_EQ(nullptr, empty_nh_from_standalone->get_node_time_source_interface());

auto base_nh = std::make_shared<rclcpp::node_interfaces::NodeInterfaceHandle<
rclcpp::node_interfaces::NodeBaseInterface
rclcpp::node_interfaces::Base
>>(node);
EXPECT_NE(nullptr, base_nh->get_node_base_interface());
EXPECT_STREQ("my_node", base_nh->get_node_base_interface()->get_name());
EXPECT_EQ(nullptr, base_nh->get_node_clock_interface());
EXPECT_EQ(nullptr, base_nh->get_node_graph_interface());
EXPECT_EQ(nullptr, base_nh->get_node_logging_interface());
EXPECT_EQ(nullptr, base_nh->get_node_timers_interface());
EXPECT_EQ(nullptr, base_nh->get_node_topics_interface());
EXPECT_EQ(nullptr, base_nh->get_node_services_interface());
EXPECT_EQ(nullptr, base_nh->get_node_waitables_interface());
EXPECT_EQ(nullptr, base_nh->get_node_parameters_interface());
EXPECT_EQ(nullptr, base_nh->get_node_time_source_interface());

auto base_nh_from_standalone = rclcpp::get_node_handle<
rclcpp::node_interfaces::NodeBaseInterface
// The following will not be defined
// EXPECT_EQ(nullptr, base_nh->get_node_clock_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_graph_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_logging_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_timers_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_topics_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_services_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_waitables_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_parameters_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_time_source_interface());

auto base_nh_from_standalone = rclcpp::get_node_interface_handle<
rclcpp::node_interfaces::Base
>(node);
EXPECT_NE(nullptr, base_nh_from_standalone->get_node_base_interface());
EXPECT_STREQ("my_node", base_nh_from_standalone->get_node_base_interface()->get_name());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_clock_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_graph_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_logging_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_timers_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_topics_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_services_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_waitables_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_parameters_interface());
EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_time_source_interface());
// The following will not be defined
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_clock_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_graph_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_logging_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_timers_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_topics_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_services_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_waitables_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_parameters_interface());
// EXPECT_EQ(nullptr, base_nh_from_standalone->get_node_time_source_interface());

auto base_clock_nh =
std::make_shared<rclcpp::node_interfaces::NodeInterfaceHandle<
rclcpp::node_interfaces::NodeBaseInterface,
rclcpp::node_interfaces::NodeClockInterface
rclcpp::node_interfaces::Base,
rclcpp::node_interfaces::Clock
>>(node);
EXPECT_NE(nullptr, base_clock_nh->get_node_base_interface());
EXPECT_STREQ("my_node", base_clock_nh->get_node_base_interface()->get_name());
EXPECT_NE(nullptr, base_clock_nh->get_node_clock_interface());
EXPECT_TRUE(
RCL_ROS_TIME == base_clock_nh->get_node_clock_interface()->get_clock()->get_clock_type());
EXPECT_EQ(nullptr, base_clock_nh->get_node_graph_interface());
EXPECT_EQ(nullptr, base_clock_nh->get_node_logging_interface());
EXPECT_EQ(nullptr, base_clock_nh->get_node_timers_interface());
EXPECT_EQ(nullptr, base_clock_nh->get_node_topics_interface());
EXPECT_EQ(nullptr, base_clock_nh->get_node_services_interface());
EXPECT_EQ(nullptr, base_clock_nh->get_node_waitables_interface());
EXPECT_EQ(nullptr, base_clock_nh->get_node_parameters_interface());
EXPECT_EQ(nullptr, base_clock_nh->get_node_time_source_interface());
// The following will not be defined
// EXPECT_EQ(nullptr, base_clock_nh->get_node_graph_interface());
// EXPECT_EQ(nullptr, base_clock_nh->get_node_logging_interface());
// EXPECT_EQ(nullptr, base_clock_nh->get_node_timers_interface());
// EXPECT_EQ(nullptr, base_clock_nh->get_node_topics_interface());
// EXPECT_EQ(nullptr, base_clock_nh->get_node_services_interface());
// EXPECT_EQ(nullptr, base_clock_nh->get_node_waitables_interface());
// EXPECT_EQ(nullptr, base_clock_nh->get_node_parameters_interface());
// EXPECT_EQ(nullptr, base_clock_nh->get_node_time_source_interface());

auto sans_base_clock_nh = std::make_shared<
rclcpp::node_interfaces::NodeInterfaceHandle<
rclcpp::node_interfaces::NodeGraphInterface,
rclcpp::node_interfaces::NodeLoggingInterface,
rclcpp::node_interfaces::NodeTimersInterface,
rclcpp::node_interfaces::NodeTopicsInterface,
rclcpp::node_interfaces::NodeServicesInterface,
rclcpp::node_interfaces::NodeWaitablesInterface,
rclcpp::node_interfaces::NodeParametersInterface,
rclcpp::node_interfaces::NodeTimeSourceInterface
rclcpp::node_interfaces::Graph,
rclcpp::node_interfaces::Logging,
rclcpp::node_interfaces::Timers,
rclcpp::node_interfaces::Topics,
rclcpp::node_interfaces::Services,
rclcpp::node_interfaces::Waitables,
rclcpp::node_interfaces::Parameters,
rclcpp::node_interfaces::TimeSource
>>(node);
EXPECT_EQ(nullptr, sans_base_clock_nh->get_node_base_interface());
EXPECT_EQ(nullptr, sans_base_clock_nh->get_node_clock_interface());
// The following will not be defined
// EXPECT_EQ(nullptr, sans_base_clock_nh->get_node_base_interface());
// EXPECT_EQ(nullptr, sans_base_clock_nh->get_node_clock_interface());
EXPECT_NE(nullptr, sans_base_clock_nh->get_node_graph_interface());
EXPECT_NE(nullptr, sans_base_clock_nh->get_node_logging_interface());
EXPECT_NE(nullptr, sans_base_clock_nh->get_node_timers_interface());
Expand All @@ -132,19 +135,6 @@ TEST_F(TestNodeInterfaceHandle, nh_init) {
EXPECT_NE(nullptr, sans_base_clock_nh->get_node_waitables_interface());
EXPECT_NE(nullptr, sans_base_clock_nh->get_node_parameters_interface());
EXPECT_NE(nullptr, sans_base_clock_nh->get_node_time_source_interface());

auto empty_nh_from_node =
std::make_shared<rclcpp::node_interfaces::NodeInterfaceHandle<>>(node);
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_base_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_clock_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_graph_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_logging_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_timers_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_topics_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_services_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_waitables_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_parameters_interface());
EXPECT_EQ(nullptr, empty_nh_from_node->get_node_time_source_interface());
}
}

Expand Down
35 changes: 13 additions & 22 deletions rclcpp/test/rclcpp/test_node.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -104,30 +104,21 @@ TEST_F(TestNode, nh_construction_and_destruction) {
{
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");

auto base_nh = node->get_node_handle<rclcpp::node_interfaces::NodeBaseInterface>();
auto base_nh = node->get_node_interface_handle<rclcpp::node_interfaces::Base>();
EXPECT_NE(nullptr, base_nh->get_node_base_interface());
EXPECT_STREQ("my_node", base_nh->get_node_base_interface()->get_name());
EXPECT_EQ(nullptr, base_nh->get_node_clock_interface());
EXPECT_EQ(nullptr, base_nh->get_node_graph_interface());
EXPECT_EQ(nullptr, base_nh->get_node_logging_interface());
EXPECT_EQ(nullptr, base_nh->get_node_time_source_interface());
EXPECT_EQ(nullptr, base_nh->get_node_timers_interface());
EXPECT_EQ(nullptr, base_nh->get_node_topics_interface());
EXPECT_EQ(nullptr, base_nh->get_node_services_interface());
EXPECT_EQ(nullptr, base_nh->get_node_parameters_interface());
EXPECT_EQ(nullptr, base_nh->get_node_waitables_interface());

auto empty_nh = node->get_node_handle<>();
EXPECT_EQ(nullptr, empty_nh->get_node_base_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_clock_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_graph_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_logging_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_time_source_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_timers_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_topics_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_services_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_parameters_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_waitables_interface());

// The following will not be defined
// EXPECT_EQ(nullptr, base_nh->get_node_clock_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_graph_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_logging_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_time_source_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_timers_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_topics_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_services_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_parameters_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_waitables_interface());

}
}

Expand Down
34 changes: 12 additions & 22 deletions rclcpp_lifecycle/test/test_lifecycle_node.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -634,30 +634,20 @@ TEST_F(TestDefaultStateMachine, test_getters) {
EXPECT_NE(nullptr, const_cast<const EmptyLifecycleNode *>(test_node.get())->get_clock());

// Node Handle
auto base_nh = test_node->get_node_handle<rclcpp::node_interfaces::NodeBaseInterface>();
auto base_nh = test_node->get_node_interface_handle<rclcpp::node_interfaces::Base>();
EXPECT_NE(nullptr, base_nh->get_node_base_interface());
EXPECT_STREQ("testnode", base_nh->get_node_base_interface()->get_name());
EXPECT_EQ(nullptr, base_nh->get_node_clock_interface());
EXPECT_EQ(nullptr, base_nh->get_node_graph_interface());
EXPECT_EQ(nullptr, base_nh->get_node_logging_interface());
EXPECT_EQ(nullptr, base_nh->get_node_time_source_interface());
EXPECT_EQ(nullptr, base_nh->get_node_timers_interface());
EXPECT_EQ(nullptr, base_nh->get_node_topics_interface());
EXPECT_EQ(nullptr, base_nh->get_node_services_interface());
EXPECT_EQ(nullptr, base_nh->get_node_parameters_interface());
EXPECT_EQ(nullptr, base_nh->get_node_waitables_interface());

auto empty_nh = test_node->get_node_handle<>();
EXPECT_EQ(nullptr, empty_nh->get_node_base_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_clock_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_graph_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_logging_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_time_source_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_timers_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_topics_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_services_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_parameters_interface());
EXPECT_EQ(nullptr, empty_nh->get_node_waitables_interface());

// The following will not be defined
// EXPECT_EQ(nullptr, base_nh->get_node_clock_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_graph_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_logging_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_time_source_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_timers_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_topics_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_services_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_parameters_interface());
// EXPECT_EQ(nullptr, base_nh->get_node_waitables_interface());
}

TEST_F(TestDefaultStateMachine, test_graph_topics) {
Expand Down

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