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Add tests for fixed-width integer function templates of declare_parameter #1744

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Add tests for fixed-width integer function templates of declare_parameter #1744

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43 changes: 43 additions & 0 deletions rclcpp/test/rclcpp/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2589,6 +2589,49 @@ TEST_F(TestNode, declare_parameter_with_vector) {
}
}

// test declare parameter templates with fixed length integers
TEST_F(TestNode, declare_parameter_fixed_len_integer_templates) {
auto node = std::make_shared<rclcpp::Node>(
"test_declare_parameter_fixed_len_integer_templates"_unq,
rclcpp::NodeOptions().allow_undeclared_parameters(true));
{
// declare parameter and then get types to check
auto name1 = "parameter"_unq;
auto name2 = "parameter"_unq;
auto name3 = "parameter"_unq;
auto name4 = "parameter"_unq;
auto name5 = "parameter"_unq;
auto name6 = "parameter"_unq;
auto name7 = "parameter"_unq;
auto name8 = "parameter"_unq;

node->declare_parameter<int8_t>(name1, 5);
node->declare_parameter<uint8_t>(name2, 5);
node->declare_parameter<int16_t>(name3, 5);
node->declare_parameter<uint16_t>(name4, 5);
node->declare_parameter<int32_t>(name5, 5);
node->declare_parameter<uint32_t>(name6, 5);
node->declare_parameter<int64_t>(name7, 5);
node->declare_parameter<uint64_t>(name8, 5);
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As I mentioned in the other issue, I don't think this case can/should work.


EXPECT_TRUE(node->has_parameter(name1));
EXPECT_TRUE(node->has_parameter(name2));
EXPECT_TRUE(node->has_parameter(name3));
EXPECT_TRUE(node->has_parameter(name4));
EXPECT_TRUE(node->has_parameter(name5));
EXPECT_TRUE(node->has_parameter(name6));
EXPECT_TRUE(node->has_parameter(name7));
EXPECT_TRUE(node->has_parameter(name8));

auto results = node->get_parameter_types({name1, name2, name3, name4, name5, name6, name7, name8});
EXPECT_EQ(results.size(), 8u);
for(const auto& item_type: results)
{
EXPECT_EQ(item_type, rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER);
}
}
}

void expect_qos_profile_eq(
const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
{
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