Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Complete coverage of Parameter and ParameterValue API #1344

Merged
merged 2 commits into from
Sep 29, 2020
Merged

Complete coverage of Parameter and ParameterValue API #1344

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
cbd99bb
Complete coverage of Parameter and ParameterValue API
brawner Sep 29, 2020
25dba4d
Adding comments
brawner Sep 29, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
154 changes: 154 additions & 0 deletions rclcpp/test/rclcpp/test_parameter.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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());
Comment on lines +47 to +49
Copy link
Contributor

@clalancette clalancette Sep 29, 2020 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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.

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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


EXPECT_THROW(not_set_variant.as_bool(), rclcpp::ParameterTypeException);
EXPECT_THROW(not_set_variant.as_int(), rclcpp::ParameterTypeException);
Expand All @@ -67,6 +70,12 @@ TEST_F(TestParameter, not_set_variant) {
EXPECT_THROW(
not_set_variant.get_value<int>(),
rclcpp::exceptions::InvalidParameterTypeException);

EXPECT_EQ(not_set_variant, not_set_variant);
Copy link
Contributor

Choose a reason for hiding this comment

The 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 not_set_variant == not_set_variant2

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I won't block PR on this though

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Yah, this is checking that == does in fact agree that the same object is equal to itself.

Copy link
Contributor Author

Choose a reason for hiding this comment

The 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) {
Expand All @@ -92,6 +101,10 @@ 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());


rclcpp::Parameter bool_variant_false("bool_param", false);
EXPECT_FALSE(bool_variant_false.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
Expand Down Expand Up @@ -125,6 +138,10 @@ TEST_F(TestParameter, bool_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
bool_variant_false.get_value_message().type);

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) {
Expand Down Expand Up @@ -154,6 +171,9 @@ 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);
Expand All @@ -173,6 +193,10 @@ TEST_F(TestParameter, integer_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
from_msg.get_value_message().type);

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) {
Expand Down Expand Up @@ -202,6 +226,12 @@ 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);
Expand All @@ -221,6 +251,10 @@ TEST_F(TestParameter, long_integer_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
from_msg.get_value_message().type);

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) {
Expand Down Expand Up @@ -250,6 +284,10 @@ 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);
Expand All @@ -269,6 +307,10 @@ TEST_F(TestParameter, float_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
from_msg.get_value_message().type);

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) {
Expand Down Expand Up @@ -298,6 +340,10 @@ 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);
Expand All @@ -317,6 +363,10 @@ TEST_F(TestParameter, double_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
from_msg.get_value_message().type);

EXPECT_EQ(double_variant, double_variant);
EXPECT_NE(double_variant, rclcpp::Parameter("double_param", -41.2));
EXPECT_EQ(double_variant, from_msg);
}

TEST_F(TestParameter, string_variant) {
Expand Down Expand Up @@ -346,6 +396,9 @@ TEST_F(TestParameter, string_variant) {
EXPECT_THROW(string_variant.as_string_array(), rclcpp::ParameterTypeException);

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());

rcl_interfaces::msg::Parameter string_param = string_variant.to_parameter_msg();
EXPECT_EQ("string_param", string_param.name);
Expand All @@ -363,6 +416,10 @@ TEST_F(TestParameter, string_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
from_msg.get_value_message().type);

EXPECT_EQ(string_variant, string_variant);
EXPECT_NE(string_variant, rclcpp::Parameter("string_param", "ROS1"));
EXPECT_EQ(string_variant, from_msg);
}

TEST_F(TestParameter, byte_array_variant) {
Expand Down Expand Up @@ -392,6 +449,12 @@ TEST_F(TestParameter, byte_array_variant) {
EXPECT_THROW(byte_array_variant.as_string_array(), rclcpp::ParameterTypeException);

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());

rcl_interfaces::msg::Parameter byte_array_param = byte_array_variant.to_parameter_msg();
EXPECT_EQ("byte_array_param", byte_array_param.name);
Expand All @@ -411,6 +474,11 @@ TEST_F(TestParameter, byte_array_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
from_msg.get_value_message().type);

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);
}

TEST_F(TestParameter, bool_array_variant) {
Expand Down Expand Up @@ -440,6 +508,12 @@ TEST_F(TestParameter, bool_array_variant) {
EXPECT_THROW(bool_array_variant.as_string_array(), rclcpp::ParameterTypeException);

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());

rcl_interfaces::msg::Parameter bool_array_param = bool_array_variant.to_parameter_msg();
EXPECT_EQ("bool_array_param", bool_array_param.name);
Expand All @@ -459,6 +533,11 @@ TEST_F(TestParameter, bool_array_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
from_msg.get_value_message().type);

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);
}

TEST_F(TestParameter, integer_array_variant) {
Expand Down Expand Up @@ -506,6 +585,12 @@ 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());

rcl_interfaces::msg::Parameter integer_array_param = integer_array_variant.to_parameter_msg();
EXPECT_EQ("integer_array_param", integer_array_param.name);
Expand Down Expand Up @@ -538,6 +623,11 @@ TEST_F(TestParameter, integer_array_variant) {
EXPECT_EQ(
from_msg.get_value_message().type,
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);

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);
}

TEST_F(TestParameter, long_integer_array_variant) {
Expand Down Expand Up @@ -571,6 +661,12 @@ 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());

rcl_interfaces::msg::Parameter integer_array_param = long_array_variant.to_parameter_msg();
EXPECT_EQ("long_integer_array_param", integer_array_param.name);
Expand All @@ -592,6 +688,11 @@ TEST_F(TestParameter, long_integer_array_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
from_msg.get_value_message().type);

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);
}

TEST_F(TestParameter, float_array_variant) {
Expand Down Expand Up @@ -639,6 +740,12 @@ 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());

rcl_interfaces::msg::Parameter float_array_param = float_array_variant.to_parameter_msg();
EXPECT_EQ("float_array_param", float_array_param.name);
Expand Down Expand Up @@ -671,6 +778,11 @@ TEST_F(TestParameter, float_array_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
from_msg.get_value_message().type);

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);
}

TEST_F(TestParameter, double_array_variant) {
Expand Down Expand Up @@ -704,6 +816,12 @@ 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());

rcl_interfaces::msg::Parameter double_array_param = double_array_variant.to_parameter_msg();
EXPECT_EQ("double_array_param", double_array_param.name);
Expand All @@ -725,6 +843,11 @@ TEST_F(TestParameter, double_array_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
from_msg.get_value_message().type);

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);
}

TEST_F(TestParameter, string_array_variant) {
Expand Down Expand Up @@ -756,6 +879,11 @@ TEST_F(TestParameter, string_array_variant) {
EXPECT_THROW(string_array_variant.as_double_array(), rclcpp::ParameterTypeException);

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());

rcl_interfaces::msg::Parameter string_array_param = string_array_variant.to_parameter_msg();
EXPECT_EQ("string_array_param", string_array_param.name);
Expand All @@ -777,4 +905,30 @@ TEST_F(TestParameter, string_array_variant) {
EXPECT_EQ(
rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
from_msg.get_value_message().type);

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);
}

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"),
};

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());
}