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Complete coverage of Parameter and ParameterValue API #1344
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Original file line number | Diff line number | Diff line change |
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@@ -44,6 +44,9 @@ TEST_F(TestParameter, not_set_variant) { | |
rclcpp::Parameter not_set_variant; | ||
EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, not_set_variant.get_type()); | ||
EXPECT_EQ("not set", not_set_variant.get_type_name()); | ||
std::stringstream ss; | ||
ss << not_set_variant; | ||
EXPECT_EQ("{\"name\": \"\", \"type\": \"not set\", \"value\": \"not set\"}", ss.str()); | ||
|
||
EXPECT_THROW(not_set_variant.as_bool(), rclcpp::ParameterTypeException); | ||
EXPECT_THROW(not_set_variant.as_int(), rclcpp::ParameterTypeException); | ||
|
@@ -67,6 +70,13 @@ TEST_F(TestParameter, not_set_variant) { | |
EXPECT_THROW( | ||
not_set_variant.get_value<int>(), | ||
rclcpp::exceptions::InvalidParameterTypeException); | ||
|
||
// Check == and != operators work as expected | ||
EXPECT_EQ(not_set_variant, not_set_variant); | ||
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. This comparison to itself looks odd, I suppose you are testing a == operator? Please add a comment or maybe remove this in favor of the test checking 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. I won't block PR on this though 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. Yah, this is checking that 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. I added a comment though, which is a great idea. |
||
rclcpp::Parameter not_set_variant2; | ||
EXPECT_EQ(not_set_variant, not_set_variant2); | ||
rclcpp::Parameter bool_variant("bool_param", true); | ||
EXPECT_NE(not_set_variant, bool_variant); | ||
} | ||
|
||
TEST_F(TestParameter, bool_variant) { | ||
|
@@ -92,6 +102,10 @@ TEST_F(TestParameter, bool_variant) { | |
EXPECT_THROW(bool_variant_true.as_string_array(), rclcpp::ParameterTypeException); | ||
|
||
EXPECT_EQ("true", bool_variant_true.value_to_string()); | ||
std::stringstream ss; | ||
ss << bool_variant_true; | ||
EXPECT_EQ("{\"name\": \"bool_param\", \"type\": \"bool\", \"value\": \"true\"}", ss.str()); | ||
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||
|
||
rclcpp::Parameter bool_variant_false("bool_param", false); | ||
EXPECT_FALSE(bool_variant_false.get_value<rclcpp::ParameterType::PARAMETER_BOOL>()); | ||
|
@@ -125,6 +139,11 @@ TEST_F(TestParameter, bool_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_BOOL, | ||
bool_variant_false.get_value_message().type); | ||
|
||
// Check == and != operators work as expected | ||
EXPECT_EQ(bool_variant_true, bool_variant_true); | ||
EXPECT_NE(bool_variant_false, bool_variant_true); | ||
EXPECT_EQ(bool_variant_true, from_msg_true); | ||
} | ||
|
||
TEST_F(TestParameter, integer_variant) { | ||
|
@@ -154,6 +173,9 @@ TEST_F(TestParameter, integer_variant) { | |
EXPECT_THROW(integer_variant.as_string_array(), rclcpp::ParameterTypeException); | ||
|
||
EXPECT_EQ("42", integer_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << integer_variant; | ||
EXPECT_EQ("{\"name\": \"integer_param\", \"type\": \"integer\", \"value\": \"42\"}", ss.str()); | ||
|
||
rcl_interfaces::msg::Parameter integer_param = integer_variant.to_parameter_msg(); | ||
EXPECT_EQ("integer_param", integer_param.name); | ||
|
@@ -173,6 +195,11 @@ TEST_F(TestParameter, integer_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER, | ||
from_msg.get_value_message().type); | ||
|
||
// Check == and != operators work as expected | ||
EXPECT_EQ(integer_variant, integer_variant); | ||
EXPECT_NE(integer_variant, rclcpp::Parameter("integer_param", 41)); | ||
EXPECT_EQ(integer_variant, from_msg); | ||
} | ||
|
||
TEST_F(TestParameter, long_integer_variant) { | ||
|
@@ -202,6 +229,12 @@ TEST_F(TestParameter, long_integer_variant) { | |
EXPECT_THROW(long_variant.as_string_array(), rclcpp::ParameterTypeException); | ||
|
||
EXPECT_EQ("9223372036854775807", long_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << long_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"long_integer_param\", \"type\": \"integer\", \"value\": " | ||
"\"9223372036854775807\"}", | ||
ss.str()); | ||
|
||
rcl_interfaces::msg::Parameter integer_param = long_variant.to_parameter_msg(); | ||
EXPECT_EQ("long_integer_param", integer_param.name); | ||
|
@@ -221,6 +254,12 @@ TEST_F(TestParameter, long_integer_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER, | ||
from_msg.get_value_message().type); | ||
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||
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// Check == and != operators work as expected | ||
EXPECT_EQ(long_variant, long_variant); | ||
EXPECT_NE(long_variant, rclcpp::Parameter("long_integer_param", 41)); | ||
EXPECT_EQ(long_variant, from_msg); | ||
} | ||
|
||
TEST_F(TestParameter, float_variant) { | ||
|
@@ -250,6 +289,10 @@ TEST_F(TestParameter, float_variant) { | |
EXPECT_THROW(float_variant.as_string_array(), rclcpp::ParameterTypeException); | ||
|
||
EXPECT_EQ("42.000000", float_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << float_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"float_param\", \"type\": \"double\", \"value\": \"42.000000\"}", ss.str()); | ||
|
||
rcl_interfaces::msg::Parameter float_param = float_variant.to_parameter_msg(); | ||
EXPECT_EQ("float_param", float_param.name); | ||
|
@@ -269,6 +312,11 @@ TEST_F(TestParameter, float_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE, | ||
from_msg.get_value_message().type); | ||
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||
// Check == and != operators work as expected | ||
EXPECT_EQ(float_variant, float_variant); | ||
EXPECT_NE(float_variant, rclcpp::Parameter("float_param", 41.0)); | ||
EXPECT_EQ(float_variant, from_msg); | ||
} | ||
|
||
TEST_F(TestParameter, double_variant) { | ||
|
@@ -298,6 +346,10 @@ TEST_F(TestParameter, double_variant) { | |
EXPECT_THROW(double_variant.as_string_array(), rclcpp::ParameterTypeException); | ||
|
||
EXPECT_EQ("-42.100000", double_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << double_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"double_param\", \"type\": \"double\", \"value\": \"-42.100000\"}", ss.str()); | ||
|
||
rcl_interfaces::msg::Parameter double_param = double_variant.to_parameter_msg(); | ||
EXPECT_EQ("double_param", double_param.name); | ||
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@@ -317,6 +369,11 @@ TEST_F(TestParameter, double_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE, | ||
from_msg.get_value_message().type); | ||
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||
// Check == and != operators work as expected | ||
EXPECT_EQ(double_variant, double_variant); | ||
EXPECT_NE(double_variant, rclcpp::Parameter("double_param", -41.2)); | ||
EXPECT_EQ(double_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, string_variant) { | ||
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@@ -346,6 +403,9 @@ TEST_F(TestParameter, string_variant) { | |
EXPECT_THROW(string_variant.as_string_array(), rclcpp::ParameterTypeException); | ||
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EXPECT_EQ(TEST_VALUE, string_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << string_variant; | ||
EXPECT_EQ("{\"name\": \"string_param\", \"type\": \"string\", \"value\": \"ROS2\"}", ss.str()); | ||
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rcl_interfaces::msg::Parameter string_param = string_variant.to_parameter_msg(); | ||
EXPECT_EQ("string_param", string_param.name); | ||
|
@@ -363,6 +423,11 @@ TEST_F(TestParameter, string_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_STRING, | ||
from_msg.get_value_message().type); | ||
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||
// Check == and != operators work as expected | ||
EXPECT_EQ(string_variant, string_variant); | ||
EXPECT_NE(string_variant, rclcpp::Parameter("string_param", "ROS1")); | ||
EXPECT_EQ(string_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, byte_array_variant) { | ||
|
@@ -392,6 +457,12 @@ TEST_F(TestParameter, byte_array_variant) { | |
EXPECT_THROW(byte_array_variant.as_string_array(), rclcpp::ParameterTypeException); | ||
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EXPECT_EQ("[0x52, 0x4f, 0x53, 0x32]", byte_array_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << byte_array_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"byte_array_param\", \"type\": \"byte_array\", \"value\": " | ||
"\"[0x52, 0x4f, 0x53, 0x32]\"}", | ||
ss.str()); | ||
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rcl_interfaces::msg::Parameter byte_array_param = byte_array_variant.to_parameter_msg(); | ||
EXPECT_EQ("byte_array_param", byte_array_param.name); | ||
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@@ -411,6 +482,12 @@ TEST_F(TestParameter, byte_array_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY, | ||
from_msg.get_value_message().type); | ||
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// Check == and != operators work as expected | ||
const std::vector<uint8_t> TEST_VALUE2 {0x1, 0x2, 0x3, 0x4}; | ||
EXPECT_EQ(byte_array_variant, byte_array_variant); | ||
EXPECT_NE(byte_array_variant, rclcpp::Parameter("byte_array_param", TEST_VALUE2)); | ||
EXPECT_EQ(byte_array_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, bool_array_variant) { | ||
|
@@ -440,6 +517,12 @@ TEST_F(TestParameter, bool_array_variant) { | |
EXPECT_THROW(bool_array_variant.as_string_array(), rclcpp::ParameterTypeException); | ||
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EXPECT_EQ("[false, true, true, false, false, true]", bool_array_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << bool_array_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"bool_array_param\", \"type\": \"bool_array\", \"value\": " | ||
"\"[false, true, true, false, false, true]\"}", | ||
ss.str()); | ||
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rcl_interfaces::msg::Parameter bool_array_param = bool_array_variant.to_parameter_msg(); | ||
EXPECT_EQ("bool_array_param", bool_array_param.name); | ||
|
@@ -459,6 +542,12 @@ TEST_F(TestParameter, bool_array_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY, | ||
from_msg.get_value_message().type); | ||
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// Check == and != operators work as expected | ||
const std::vector<bool> TEST_VALUE2 {true, true, true}; | ||
EXPECT_EQ(bool_array_variant, bool_array_variant); | ||
EXPECT_NE(bool_array_variant, rclcpp::Parameter("bool_array_param", TEST_VALUE2)); | ||
EXPECT_EQ(bool_array_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, integer_array_variant) { | ||
|
@@ -506,6 +595,12 @@ TEST_F(TestParameter, integer_array_variant) { | |
EXPECT_EQ( | ||
"[42, -99, 2147483647, -2147483648, 0]", | ||
integer_array_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << integer_array_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"integer_array_param\", \"type\": \"integer_array\", \"value\": " | ||
"\"[42, -99, 2147483647, -2147483648, 0]\"}", | ||
ss.str()); | ||
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rcl_interfaces::msg::Parameter integer_array_param = integer_array_variant.to_parameter_msg(); | ||
EXPECT_EQ("integer_array_param", integer_array_param.name); | ||
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@@ -538,6 +633,12 @@ TEST_F(TestParameter, integer_array_variant) { | |
EXPECT_EQ( | ||
from_msg.get_value_message().type, | ||
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY); | ||
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||
// Check == and != operators work as expected | ||
const std::vector<int> TEST_VALUE2{1, 2, 3, 4, 5}; | ||
EXPECT_EQ(integer_array_variant, integer_array_variant); | ||
EXPECT_NE(integer_array_variant, rclcpp::Parameter("integer_array_param", TEST_VALUE2)); | ||
EXPECT_EQ(integer_array_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, long_integer_array_variant) { | ||
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@@ -571,6 +672,12 @@ TEST_F(TestParameter, long_integer_array_variant) { | |
EXPECT_EQ( | ||
"[42, -99, 9223372036854775807, -9223372036854775808, 0]", | ||
long_array_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << long_array_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"long_integer_array_param\", \"type\": \"integer_array\", \"value\": " | ||
"\"[42, -99, 9223372036854775807, -9223372036854775808, 0]\"}", | ||
ss.str()); | ||
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rcl_interfaces::msg::Parameter integer_array_param = long_array_variant.to_parameter_msg(); | ||
EXPECT_EQ("long_integer_array_param", integer_array_param.name); | ||
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@@ -592,6 +699,12 @@ TEST_F(TestParameter, long_integer_array_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY, | ||
from_msg.get_value_message().type); | ||
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// Check == and != operators work as expected | ||
const std::vector<int64_t> TEST_VALUE2{1, 2, 3, 4, 5}; | ||
EXPECT_EQ(long_array_variant, long_array_variant); | ||
EXPECT_NE(long_array_variant, rclcpp::Parameter("long_integer_array_param", TEST_VALUE2)); | ||
EXPECT_EQ(long_array_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, float_array_variant) { | ||
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@@ -639,6 +752,12 @@ TEST_F(TestParameter, float_array_variant) { | |
EXPECT_EQ( | ||
"[42.1, -99.1, 3.40282e+38, -3.40282e+38, 0.1]", | ||
float_array_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << float_array_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"float_array_param\", \"type\": \"double_array\", \"value\": " | ||
"\"[42.1, -99.1, 3.40282e+38, -3.40282e+38, 0.1]\"}", | ||
ss.str()); | ||
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rcl_interfaces::msg::Parameter float_array_param = float_array_variant.to_parameter_msg(); | ||
EXPECT_EQ("float_array_param", float_array_param.name); | ||
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@@ -671,6 +790,12 @@ TEST_F(TestParameter, float_array_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY, | ||
from_msg.get_value_message().type); | ||
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// Check == and != operators work as expected | ||
const std::vector<float> TEST_VALUE2{1.0, 2.0, 3.0, 4.0}; | ||
EXPECT_EQ(float_array_variant, float_array_variant); | ||
EXPECT_NE(float_array_variant, rclcpp::Parameter("float_array_param", TEST_VALUE2)); | ||
EXPECT_EQ(float_array_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, double_array_variant) { | ||
|
@@ -704,6 +829,12 @@ TEST_F(TestParameter, double_array_variant) { | |
EXPECT_EQ( | ||
"[42.1, -99.1, 1.79769e+308, -1.79769e+308, 0.1]", | ||
double_array_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << double_array_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"double_array_param\", \"type\": \"double_array\", \"value\": " | ||
"\"[42.1, -99.1, 1.79769e+308, -1.79769e+308, 0.1]\"}", | ||
ss.str()); | ||
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rcl_interfaces::msg::Parameter double_array_param = double_array_variant.to_parameter_msg(); | ||
EXPECT_EQ("double_array_param", double_array_param.name); | ||
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@@ -725,6 +856,12 @@ TEST_F(TestParameter, double_array_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY, | ||
from_msg.get_value_message().type); | ||
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||
// Check == and != operators work as expected | ||
const std::vector<double> TEST_VALUE2{1.0, 2.0, 3.0, 4.0}; | ||
EXPECT_EQ(double_array_variant, double_array_variant); | ||
EXPECT_NE(double_array_variant, rclcpp::Parameter("double_array_param", TEST_VALUE2)); | ||
EXPECT_EQ(double_array_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, string_array_variant) { | ||
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@@ -756,6 +893,11 @@ TEST_F(TestParameter, string_array_variant) { | |
EXPECT_THROW(string_array_variant.as_double_array(), rclcpp::ParameterTypeException); | ||
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EXPECT_EQ("[R, O, S2]", string_array_variant.value_to_string()); | ||
std::stringstream ss; | ||
ss << string_array_variant; | ||
EXPECT_EQ( | ||
"{\"name\": \"string_array_param\", \"type\": \"string_array\", \"value\": \"[R, O, S2]\"}", | ||
ss.str()); | ||
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rcl_interfaces::msg::Parameter string_array_param = string_array_variant.to_parameter_msg(); | ||
EXPECT_EQ("string_array_param", string_array_param.name); | ||
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@@ -777,4 +919,31 @@ TEST_F(TestParameter, string_array_variant) { | |
EXPECT_EQ( | ||
rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY, | ||
from_msg.get_value_message().type); | ||
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||
// Check == and != operators work as expected | ||
const std::vector<std::string> TEST_VALUE2{"R", "O", "S1"}; | ||
EXPECT_EQ(string_array_variant, string_array_variant); | ||
EXPECT_NE(string_array_variant, rclcpp::Parameter("string_array_param", TEST_VALUE2)); | ||
EXPECT_EQ(string_array_variant, from_msg); | ||
} | ||
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TEST_F(TestParameter, parameter_vector_stringification) { | ||
const std::vector<rclcpp::Parameter> parameters = { | ||
rclcpp::Parameter(), | ||
rclcpp::Parameter("bool_param", true), | ||
rclcpp::Parameter("integer_param", 42), | ||
rclcpp::Parameter("double_param", 3.14159), | ||
rclcpp::Parameter("string_param", "I'm a string"), | ||
}; | ||
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std::stringstream ss; | ||
ss << parameters; | ||
EXPECT_EQ( | ||
"{" | ||
"\"\": {\"type\": \"not set\", \"value\": \"not set\"}, " | ||
"\"bool_param\": {\"type\": \"bool\", \"value\": \"true\"}, " | ||
"\"integer_param\": {\"type\": \"integer\", \"value\": \"42\"}, " | ||
"\"double_param\": {\"type\": \"double\", \"value\": \"3.141590\"}, " | ||
"\"string_param\": {\"type\": \"string\", \"value\": \"I'm a string\"}}", | ||
ss.str()); | ||
} |
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I know you didn't change this, but this is a weird thing to be returning when trying to stream
PARAMETER_NOT_SET
. I'd find it much more intuitive if the stream operator threw an exception.If you agree, my suggestion is that we leave this test as-is (to test the current behavior), but open a follow-up issue to fix it later.
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I'm not aware of many uses of throwing exceptions in the
<<
operator, but I guess it depends on how much of an error it assumed to be when trying to stream an unset parameter.Follow-up issue for comment created here. #1348