From 551424308f666cd228b85490d6ed93c9c180edbb Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Mon, 16 Sep 2019 13:15:41 -0500
Subject: [PATCH] Trait tests for generated actions

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 rclcpp_action/CMakeLists.txt       |  9 ++++
 rclcpp_action/test/test_traits.cpp | 72 ++++++++++++++++++++++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 rclcpp_action/test/test_traits.cpp

diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 727d10b158..ab3a5d8874 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -88,6 +88,15 @@ if(BUILD_TESTING)
     )
   endif()
 
+  ament_add_gtest(test_traits test/test_traits.cpp)
+  if(TARGET test_traits)
+    ament_target_dependencies(test_traits
+      "test_msgs"
+    )
+    target_link_libraries(test_traits
+      ${PROJECT_NAME}
+    )
+  endif()
 endif()
 
 ament_package()
diff --git a/rclcpp_action/test/test_traits.cpp b/rclcpp_action/test/test_traits.cpp
new file mode 100644
index 0000000000..1342f543ec
--- /dev/null
+++ b/rclcpp_action/test/test_traits.cpp
@@ -0,0 +1,72 @@
+// 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 <test_msgs/action/fibonacci.hpp>
+
+using rosidl_generator_traits::is_message;
+using rosidl_generator_traits::is_service;
+using rosidl_generator_traits::is_action;
+using rosidl_generator_traits::is_action_goal;
+using rosidl_generator_traits::is_action_result;
+using rosidl_generator_traits::is_action_feedback;
+
+TEST(TestActionTraits, is_action) {
+  using Fibonacci = test_msgs::action::Fibonacci;
+
+  // Top level definition is an action
+  ASSERT_FALSE(is_message<Fibonacci>());
+  ASSERT_FALSE(is_service<Fibonacci>());
+  ASSERT_TRUE(is_action<Fibonacci>());
+  ASSERT_FALSE(is_action_goal<Fibonacci>());
+  ASSERT_FALSE(is_action_result<Fibonacci>());
+  ASSERT_FALSE(is_action_feedback<Fibonacci>());
+
+  // Goal is an action_goal as well as a message
+  ASSERT_TRUE(is_message<Fibonacci::Goal>());
+  ASSERT_FALSE(is_service<Fibonacci::Goal>());
+  ASSERT_FALSE(is_action<Fibonacci::Goal>());
+  ASSERT_TRUE(is_action_goal<Fibonacci::Goal>());
+  ASSERT_FALSE(is_action_result<Fibonacci::Goal>());
+  ASSERT_FALSE(is_action_feedback<Fibonacci::Goal>());
+
+  // Result is an action_result as well as a message
+  ASSERT_TRUE(is_message<Fibonacci::Result>());
+  ASSERT_FALSE(is_service<Fibonacci::Result>());
+  ASSERT_FALSE(is_action<Fibonacci::Result>());
+  ASSERT_FALSE(is_action_goal<Fibonacci::Result>());
+  ASSERT_TRUE(is_action_result<Fibonacci::Result>());
+  ASSERT_FALSE(is_action_feedback<Fibonacci::Result>());
+
+  // Feedback is an action_feedback as well as a message
+  ASSERT_TRUE(is_message<Fibonacci::Feedback>());
+  ASSERT_FALSE(is_service<Fibonacci::Feedback>());
+  ASSERT_FALSE(is_action<Fibonacci::Feedback>());
+  ASSERT_FALSE(is_action_goal<Fibonacci::Feedback>());
+  ASSERT_FALSE(is_action_result<Fibonacci::Feedback>());
+  ASSERT_TRUE(is_action_feedback<Fibonacci::Feedback>());
+}
+
+TEST(TestActionTraits, is_action_impl) {
+  using Fibonacci = test_msgs::action::Fibonacci;
+
+  // Test traits on some of the internal implementation of actionlib
+  ASSERT_TRUE(is_service<Fibonacci::Impl::SendGoalService>());
+  ASSERT_TRUE(is_service<Fibonacci::Impl::GetResultService>());
+  ASSERT_TRUE(is_message<Fibonacci::Impl::FeedbackMessage>());
+
+  ASSERT_TRUE(is_service<Fibonacci::Impl::CancelGoalService>());
+  ASSERT_TRUE(is_message<Fibonacci::Impl::GoalStatusMessage>());
+}
+