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use composition for serialized message #1082
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Original file line number | Diff line number | Diff line change |
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@@ -30,16 +30,14 @@ | |
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TEST(TestSerializedMessage, empty_initialize) { | ||
rclcpp::SerializedMessage serialized_message; | ||
EXPECT_TRUE(serialized_message.buffer == nullptr); | ||
EXPECT_EQ(0u, serialized_message.buffer_length); | ||
EXPECT_EQ(0u, serialized_message.buffer_capacity); | ||
EXPECT_EQ(0u, serialized_message.size()); | ||
EXPECT_EQ(0u, serialized_message.capacity()); | ||
} | ||
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TEST(TestSerializedMessage, initialize_with_capacity) { | ||
rclcpp::SerializedMessage serialized_message(13); | ||
EXPECT_TRUE(serialized_message.buffer != nullptr); | ||
EXPECT_EQ(0u, serialized_message.buffer_length); | ||
EXPECT_EQ(13u, serialized_message.buffer_capacity); | ||
EXPECT_EQ(0u, serialized_message.size()); | ||
EXPECT_EQ(13u, serialized_message.capacity()); | ||
} | ||
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TEST(TestSerializedMessage, various_constructors) { | ||
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@@ -48,65 +46,72 @@ TEST(TestSerializedMessage, various_constructors) { | |
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rclcpp::SerializedMessage serialized_message(content_size); | ||
// manually copy some content | ||
std::memcpy(serialized_message.buffer, content.c_str(), content.size()); | ||
serialized_message.buffer[content.size()] = '\0'; | ||
serialized_message.buffer_length = content_size; | ||
EXPECT_STREQ(content.c_str(), reinterpret_cast<char *>(serialized_message.buffer)); | ||
EXPECT_EQ(content_size, serialized_message.buffer_capacity); | ||
auto & rcl_handle = serialized_message.get_rcl_serialized_message(); | ||
std::memcpy(rcl_handle.buffer, content.c_str(), content.size()); | ||
rcl_handle.buffer[content.size()] = '\0'; | ||
rcl_handle.buffer_length = content_size; | ||
EXPECT_STREQ(content.c_str(), reinterpret_cast<char *>(rcl_handle.buffer)); | ||
EXPECT_EQ(content_size, serialized_message.capacity()); | ||
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// Copy Constructor | ||
rclcpp::SerializedMessage other_serialized_message(serialized_message); | ||
EXPECT_EQ(content_size, other_serialized_message.buffer_capacity); | ||
EXPECT_EQ(content_size, other_serialized_message.buffer_length); | ||
EXPECT_EQ(content_size, other_serialized_message.capacity()); | ||
EXPECT_EQ(content_size, other_serialized_message.size()); | ||
auto & other_rcl_handle = other_serialized_message.get_rcl_serialized_message(); | ||
EXPECT_STREQ( | ||
reinterpret_cast<char *>(serialized_message.buffer), | ||
reinterpret_cast<char *>(other_serialized_message.buffer)); | ||
reinterpret_cast<char *>(rcl_handle.buffer), | ||
reinterpret_cast<char *>(other_rcl_handle.buffer)); | ||
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// Move Constructor | ||
rclcpp::SerializedMessage yet_another_serialized_message(std::move(other_serialized_message)); | ||
EXPECT_TRUE(other_serialized_message.buffer == nullptr); | ||
EXPECT_EQ(0u, other_serialized_message.buffer_capacity); | ||
EXPECT_EQ(0u, other_serialized_message.buffer_length); | ||
auto & yet_another_rcl_handle = yet_another_serialized_message.get_rcl_serialized_message(); | ||
EXPECT_TRUE(nullptr == other_rcl_handle.buffer); | ||
EXPECT_EQ(0u, other_serialized_message.capacity()); | ||
EXPECT_EQ(0u, other_serialized_message.size()); | ||
EXPECT_TRUE(nullptr != yet_another_rcl_handle.buffer); | ||
EXPECT_EQ(content_size, yet_another_serialized_message.size()); | ||
EXPECT_EQ(content_size, yet_another_serialized_message.capacity()); | ||
} | ||
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TEST(TestSerializedMessage, various_constructors_from_rcl) { | ||
const std::string content = "Hello World"; | ||
const auto content_size = content.size() + 1; // accounting for null terminator | ||
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auto default_allocator = rcl_get_default_allocator(); | ||
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auto rcl_serialized_msg = rmw_get_zero_initialized_serialized_message(); | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. nit: this is a |
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auto yet_another_rcl_serialized_msg = rmw_get_zero_initialized_serialized_message(); | ||
auto ret = rmw_serialized_message_init(&rcl_serialized_msg, 13, &default_allocator); | ||
ASSERT_EQ(RCL_RET_OK, ret); | ||
ret = rmw_serialized_message_init(&yet_another_rcl_serialized_msg, 13, &default_allocator); | ||
ASSERT_EQ(RCL_RET_OK, ret); | ||
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// manually copy some content | ||
std::memcpy(rcl_serialized_msg.buffer, content.c_str(), content.size()); | ||
rcl_serialized_msg.buffer[content.size()] = '\0'; | ||
rcl_serialized_msg.buffer_length = content_size; | ||
EXPECT_EQ(13u, rcl_serialized_msg.buffer_capacity); | ||
std::memcpy(yet_another_rcl_serialized_msg.buffer, content.c_str(), content.size()); | ||
yet_another_rcl_serialized_msg.buffer[content.size()] = '\0'; | ||
yet_another_rcl_serialized_msg.buffer_length = content_size; | ||
EXPECT_EQ(13u, yet_another_rcl_serialized_msg.buffer_capacity); | ||
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// Copy Constructor from rcl_serialized_message_t | ||
rclcpp::SerializedMessage from_rcl_msg(rcl_serialized_msg); | ||
EXPECT_EQ(13u, from_rcl_msg.buffer_capacity); | ||
EXPECT_EQ(content_size, from_rcl_msg.buffer_length); | ||
rclcpp::SerializedMessage serialized_message(rcl_serialized_msg); | ||
EXPECT_EQ(13u, serialized_message.capacity()); | ||
EXPECT_EQ(content_size, serialized_message.size()); | ||
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// Move Constructor from rcl_serialized_message_t | ||
rclcpp::SerializedMessage yet_another_moved_serialized_message(std::move( | ||
yet_another_rcl_serialized_msg)); | ||
EXPECT_TRUE(yet_another_rcl_serialized_msg.buffer == nullptr); | ||
EXPECT_EQ(0u, yet_another_rcl_serialized_msg.buffer_capacity); | ||
EXPECT_EQ(0u, yet_another_rcl_serialized_msg.buffer_length); | ||
rclcpp::SerializedMessage another_serialized_message(std::move(rcl_serialized_msg)); | ||
EXPECT_TRUE(nullptr == rcl_serialized_msg.buffer); | ||
EXPECT_EQ(0u, rcl_serialized_msg.buffer_capacity); | ||
EXPECT_EQ(0u, rcl_serialized_msg.buffer_length); | ||
EXPECT_EQ(13u, another_serialized_message.capacity()); | ||
EXPECT_EQ(content_size, another_serialized_message.size()); | ||
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// Verify that despite being fini'd, the copy is real | ||
ret = rmw_serialized_message_fini(&rcl_serialized_msg); | ||
ASSERT_EQ(RCL_RET_OK, ret); | ||
ASSERT_EQ(RCUTILS_RET_INVALID_ARGUMENT, ret); // Buffer is null, because it was moved | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. nit: |
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EXPECT_EQ(nullptr, rcl_serialized_msg.buffer); | ||
EXPECT_EQ(0u, rcl_serialized_msg.buffer_capacity); | ||
EXPECT_EQ(0u, rcl_serialized_msg.buffer_length); | ||
EXPECT_TRUE(nullptr != from_rcl_msg.buffer); | ||
EXPECT_EQ(13u, from_rcl_msg.buffer_capacity); | ||
EXPECT_EQ(content_size, from_rcl_msg.buffer_length); | ||
EXPECT_EQ(13u, serialized_message.capacity()); | ||
EXPECT_EQ(content_size, serialized_message.size()); | ||
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auto rcl_handle = serialized_message.get_rcl_serialized_message(); | ||
EXPECT_TRUE(nullptr != rcl_handle.buffer); | ||
} | ||
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TEST(TestSerializedMessage, serialization) { | ||
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why
inline
?should probably be
static
instead.