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Merge branch 'kucheria/add_test_interface_files_cpp' of https://githu…
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…b.com/ros2/rosidl into kucheria/add_test_interface_files_cpp

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>
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skucheria committed Aug 5, 2019
2 parents e5253b0 + 4c3cd0c commit 2e8280e
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Showing 3 changed files with 156 additions and 114 deletions.
173 changes: 87 additions & 86 deletions rosidl_generator_cpp/test/test_interfaces.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,10 @@
#include "rosidl_generator_cpp/msg/unbounded_sequences.hpp"
#include "rosidl_generator_cpp/msg/w_strings.hpp"

#define PRIMITIVES_ARRAY_SIZE 3
#define SEQUENCE_SIZE 3
#define ARRAY_SIZE 3
#define BOUNDED_STRING_LENGTH 22
#define SUBMESSAGE_ARRAY_SIZE 3
#define SUBMESSAGE_SEQUENCE_SIZE 3

TEST(Test_rosidl_generator_traits, has_fixed_size) {
static_assert(
Expand Down Expand Up @@ -147,7 +148,7 @@ TEST(Test_rosidl_generator_traits, has_bounded_size) {
Message.FieldName = InitialValue; \
Message.FieldName = FinalValue;

void test_message_primitives_static(rosidl_generator_cpp::msg::BasicTypes message)
void test_message_basic_types(rosidl_generator_cpp::msg::BasicTypes message)
{
// workaround for https://github.com/google/googletest/issues/322
#ifdef __linux__
Expand Down Expand Up @@ -192,35 +193,35 @@ void test_message_primitives_static(rosidl_generator_cpp::msg::BasicTypes messag
std::copy_n(pattern_ ## FieldName.begin(), Message.FieldName.size(), Message.FieldName.begin()); \
ASSERT_EQ(pattern_ ## FieldName, Message.FieldName);

void test_message_primitives_bounded(rosidl_generator_cpp::msg::BoundedSequences message)
void test_message_bounded(rosidl_generator_cpp::msg::BoundedSequences message)
{
TEST_BOUNDED_SEQUENCE_TYPES(message, bool_values, bool, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, bool_values, bool, SEQUENCE_SIZE, \
false, true)
TEST_BOUNDED_SEQUENCE_TYPES(message, char_values, unsigned char, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, char_values, unsigned char, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, byte_values, uint8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, byte_values, uint8_t, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, float32_values, float, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, float32_values, float, SEQUENCE_SIZE, \
FLT_MIN, FLT_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, float64_values, double, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, float64_values, double, SEQUENCE_SIZE, \
DBL_MIN, DBL_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, int8_values, int8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, int8_values, int8_t, SEQUENCE_SIZE, \
INT8_MIN, INT8_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, uint8_values, uint8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, uint8_values, uint8_t, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, int16_values, int16_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, int16_values, int16_t, SEQUENCE_SIZE, \
INT16_MIN, INT16_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, uint16_values, uint16_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, uint16_values, uint16_t, SEQUENCE_SIZE, \
0, UINT16_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, int32_values, int32_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, int32_values, int32_t, SEQUENCE_SIZE, \
INT32_MIN, INT32_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, uint32_values, uint32_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, uint32_values, uint32_t, SEQUENCE_SIZE, \
0, UINT32_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, int64_values, int64_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, int64_values, int64_t, SEQUENCE_SIZE, \
INT64_MIN, INT64_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(message, uint64_values, uint64_t, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_TYPES(message, uint64_values, uint64_t, SEQUENCE_SIZE, \
0, UINT64_MAX)
TEST_BOUNDED_SEQUENCE_STRING(message, string_values, std::string, PRIMITIVES_ARRAY_SIZE, \
TEST_BOUNDED_SEQUENCE_STRING(message, string_values, std::string, SEQUENCE_SIZE, \
0, UINT32_MAX, 0, BOUNDED_STRING_LENGTH)
}

Expand All @@ -244,35 +245,35 @@ void test_message_primitives_bounded(rosidl_generator_cpp::msg::BoundedSequences
std::copy_n(pattern_ ## FieldName.begin(), Message.FieldName.size(), Message.FieldName.begin()); \
ASSERT_EQ(pattern_ ## FieldName, Message.FieldName); \

void test_message_primitives_unbounded(rosidl_generator_cpp::msg::UnboundedSequences message)
void test_message_unbounded(rosidl_generator_cpp::msg::UnboundedSequences message)
{
TEST_UNBOUNDED_SEQUENCE_TYPES(message, bool_values, bool, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, bool_values, bool, SEQUENCE_SIZE, \
false, true)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, char_values, unsigned char, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, char_values, unsigned char, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, byte_values, uint8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, byte_values, uint8_t, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, float32_values, float, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, float32_values, float, SEQUENCE_SIZE, \
FLT_MIN, FLT_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, float64_values, double, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, float64_values, double, SEQUENCE_SIZE, \
DBL_MIN, DBL_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int8_values, int8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int8_values, int8_t, SEQUENCE_SIZE, \
INT8_MIN, INT8_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint8_values, uint8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint8_values, uint8_t, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int16_values, int16_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int16_values, int16_t, SEQUENCE_SIZE, \
INT16_MIN, INT16_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint16_values, uint16_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint16_values, uint16_t, SEQUENCE_SIZE, \
0, UINT16_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int32_values, int32_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int32_values, int32_t, SEQUENCE_SIZE, \
INT32_MIN, INT32_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint32_values, uint32_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint32_values, uint32_t, SEQUENCE_SIZE, \
0, UINT32_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int64_values, int64_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, int64_values, int64_t, SEQUENCE_SIZE, \
INT64_MIN, INT64_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint64_values, uint64_t, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_TYPES(message, uint64_values, uint64_t, SEQUENCE_SIZE, \
0, UINT64_MAX)
TEST_UNBOUNDED_SEQUENCE_STRING(message, string_values, std::string, PRIMITIVES_ARRAY_SIZE, \
TEST_UNBOUNDED_SEQUENCE_STRING(message, string_values, std::string, SEQUENCE_SIZE, \
0, UINT32_MAX, 0, UINT16_MAX)
}

Expand All @@ -284,127 +285,127 @@ void test_message_primitives_unbounded(rosidl_generator_cpp::msg::UnboundedSeque
std::copy_n(pattern_ ## FieldName.begin(), ArraySize, Message.FieldName.begin()); \
ASSERT_EQ(pattern_ ## FieldName, Message.FieldName); \

void test_message_primitives_static_arrays(rosidl_generator_cpp::msg::Arrays message)
void test_message_arrays(rosidl_generator_cpp::msg::Arrays message)
{
TEST_ARRAY_TYPES(message, bool_values, bool, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, bool_values, bool, ARRAY_SIZE, \
false, true)
TEST_ARRAY_TYPES(message, char_values, unsigned char, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, char_values, unsigned char, ARRAY_SIZE, \
0, UINT8_MAX)
TEST_ARRAY_TYPES(message, byte_values, uint8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, byte_values, uint8_t, ARRAY_SIZE, \
0, UINT8_MAX)
TEST_ARRAY_TYPES(message, float32_values, float, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, float32_values, float, ARRAY_SIZE, \
FLT_MIN, FLT_MAX)
TEST_ARRAY_TYPES(message, float64_values, double, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, float64_values, double, ARRAY_SIZE, \
DBL_MIN, DBL_MAX)
TEST_ARRAY_TYPES(message, int8_values, int8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, int8_values, int8_t, ARRAY_SIZE, \
INT8_MIN, INT8_MAX)
TEST_ARRAY_TYPES(message, uint8_values, uint8_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, uint8_values, uint8_t, ARRAY_SIZE, \
0, UINT8_MAX)
TEST_ARRAY_TYPES(message, int16_values, int16_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, int16_values, int16_t, ARRAY_SIZE, \
INT16_MIN, INT16_MAX)
TEST_ARRAY_TYPES(message, uint16_values, uint16_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, uint16_values, uint16_t, ARRAY_SIZE, \
0, UINT16_MAX)
TEST_ARRAY_TYPES(message, int32_values, int32_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, int32_values, int32_t, ARRAY_SIZE, \
INT32_MIN, INT32_MAX)
TEST_ARRAY_TYPES(message, uint32_values, uint32_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, uint32_values, uint32_t, ARRAY_SIZE, \
0, UINT32_MAX)
TEST_ARRAY_TYPES(message, int64_values, int64_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, int64_values, int64_t, ARRAY_SIZE, \
INT64_MIN, INT64_MAX)
TEST_ARRAY_TYPES(message, uint64_values, uint64_t, PRIMITIVES_ARRAY_SIZE, \
TEST_ARRAY_TYPES(message, uint64_values, uint64_t, ARRAY_SIZE, \
0, UINT64_MAX)
}

// Basic types
TEST(Test_messages, basic_types) {
rosidl_generator_cpp::msg::BasicTypes message;
test_message_primitives_static(message);
test_message_basic_types(message);
}

// Arrays
TEST(Test_messages, arrays) {
rosidl_generator_cpp::msg::Arrays message;
test_message_primitives_static_arrays(message);
test_message_arrays(message);
}

// Bounded sequences
TEST(Test_messages, bounded_sequences) {
rosidl_generator_cpp::msg::BoundedSequences message;
test_message_primitives_bounded(message);
test_message_bounded(message);
}

// Unbounded sequences
TEST(Test_messages, unbounded_sequences) {
rosidl_generator_cpp::msg::UnboundedSequences message;
test_message_primitives_unbounded(message);
test_message_unbounded(message);
}

// Array of bounded sequences
TEST(Test_messages, static_array_bounded) {
TEST(Test_messages, array_bounded) {
rosidl_generator_cpp::msg::MultiNested message;
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_bounded(message.array_of_bounded_sequences[i]);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_bounded(message.array_of_bounded_sequences[i]);
}
}

// Array of unbounded sequences
TEST(Test_messages, static_array_unbounded) {
TEST(Test_messages, array_unbounded) {
rosidl_generator_cpp::msg::MultiNested message;
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_unbounded(message.array_of_unbounded_sequences[i]);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_unbounded(message.array_of_unbounded_sequences[i]);
}
}

// Bounded sequences of basic types
TEST(Test_messages, bounded_array_static) {
// Bounded sequence of basic types
TEST(Test_messages, bounded_sequence_basic_types) {
rosidl_generator_cpp::msg::BoundedSequences message;
message.basic_types_values.resize(SUBMESSAGE_ARRAY_SIZE);
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_static(message.basic_types_values[i]);
message.basic_types_values.resize(SUBMESSAGE_SEQUENCE_SIZE);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_basic_types(message.basic_types_values[i]);
}
}

// Bounded sequences of bounded sequences
TEST(Test_messages, bounded_array_bounded) {
// Bounded sequence of bounded sequences
TEST(Test_messages, bounded_sequence_bounded) {
rosidl_generator_cpp::msg::MultiNested message;
message.bounded_sequence_of_bounded_sequences.resize(SUBMESSAGE_ARRAY_SIZE);
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_bounded(message.bounded_sequence_of_bounded_sequences[i]);
message.bounded_sequence_of_bounded_sequences.resize(SUBMESSAGE_SEQUENCE_SIZE);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_bounded(message.bounded_sequence_of_bounded_sequences[i]);
}
}

// Bounded sequences of unbounded sequences
TEST(Test_messages, bounded_array_unbounded) {
// Bounded sequence of unbounded sequences
TEST(Test_messages, bounded_sequence_unbounded) {
rosidl_generator_cpp::msg::MultiNested message;
message.bounded_sequence_of_unbounded_sequences.resize(SUBMESSAGE_ARRAY_SIZE);
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_unbounded(message.bounded_sequence_of_unbounded_sequences[i]);
message.bounded_sequence_of_unbounded_sequences.resize(SUBMESSAGE_SEQUENCE_SIZE);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_unbounded(message.bounded_sequence_of_unbounded_sequences[i]);
}
}

// Unbounded sequence of basic types
TEST(Test_messages, unbounded_array_static) {
TEST(Test_messages, unbounded_sequence_basic_types) {
rosidl_generator_cpp::msg::UnboundedSequences message;
message.basic_types_values.resize(SUBMESSAGE_ARRAY_SIZE);
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_static(message.basic_types_values[i]);
message.basic_types_values.resize(SUBMESSAGE_SEQUENCE_SIZE);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_basic_types(message.basic_types_values[i]);
}
}

// Unbounded sequence of bounded sequences
TEST(Test_messages, unbounded_array_bounded) {
TEST(Test_messages, unbounded_sequence_bounded) {
rosidl_generator_cpp::msg::MultiNested message;
message.unbounded_sequence_of_bounded_sequences.resize(SUBMESSAGE_ARRAY_SIZE);
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_bounded(message.unbounded_sequence_of_bounded_sequences[i]);
message.unbounded_sequence_of_bounded_sequences.resize(SUBMESSAGE_SEQUENCE_SIZE);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_bounded(message.unbounded_sequence_of_bounded_sequences[i]);
}
}

// Unbounded sequence of unbounded sequences
TEST(Test_messages, unbounded_array_unbounded) {
TEST(Test_messages, unbounded_sequence_unbounded) {
rosidl_generator_cpp::msg::MultiNested message;
message.unbounded_sequence_of_unbounded_sequences.resize(SUBMESSAGE_ARRAY_SIZE);
for (int i = 0; i < SUBMESSAGE_ARRAY_SIZE; i++) {
test_message_primitives_unbounded(message.unbounded_sequence_of_unbounded_sequences[i]);
message.unbounded_sequence_of_unbounded_sequences.resize(SUBMESSAGE_SEQUENCE_SIZE);
for (int i = 0; i < SUBMESSAGE_SEQUENCE_SIZE; i++) {
test_message_unbounded(message.unbounded_sequence_of_unbounded_sequences[i]);
}
}

Expand Down Expand Up @@ -464,7 +465,7 @@ TEST(Test_messages, string_arrays_default) {
// TODO(mikaelarguedas) reenable this test when bounded strings enforce length
TEST(Test_messages, DISABLED_Test_bounded_strings) {
rosidl_generator_cpp::msg::Strings message;
TEST_STRING_FIELD_ASSIGNMENT(message, string_value, "", "Deep into")
TEST_STRING_FIELD_ASSIGNMENT(message, bounded_string_value, "", "Deep into")
std::string tooLongString = std::string("Too long string");
message.bounded_string_value = tooLongString;
tooLongString.resize(BOUNDED_STRING_LENGTH);
Expand All @@ -491,6 +492,6 @@ TEST(Test_messages, Test_wstring) {

TEST(Test_messages, Test_string_array_static) {
rosidl_generator_cpp::msg::Arrays message;
TEST_STATIC_ARRAY_STRING(message, string_values_default, std::string, PRIMITIVES_ARRAY_SIZE, \
TEST_STATIC_ARRAY_STRING(message, string_values_default, std::string, ARRAY_SIZE, \
0, UINT32_MAX, 0, UINT16_MAX)
}
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