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Merged
brawner merged 4 commits into from
May 12, 2020
Merged

Increasing test coverage of rclcpp_components #1044

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9398edc
Increasing test coverage of rclcpp_components
brawner Mar 31, 2020
32d44ee
PR fixup
brawner Apr 9, 2020
3ea66c3
Fixup
brawner May 10, 2020
8102444
Removing throws test for now
brawner May 12, 2020
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8 changes: 8 additions & 0 deletions rclcpp_components/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -78,11 +78,19 @@ if(BUILD_TESTING)
set(components "${components}test_rclcpp_components::TestComponentBar;$<TARGET_FILE:test_component>\n")
set(components "${components}test_rclcpp_components::TestComponentNoNode;$<TARGET_FILE:test_component>\n")

# A properly formed resource only has one ';', this is used to catch an invalid resource entry
set(invalid_components "test_rclcpp_components::TestComponentFoo;;$<TARGET_FILE:test_component>\n")

file(GENERATE
OUTPUT
"${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>/share/ament_index/resource_index/rclcpp_components/${PROJECT_NAME}"
CONTENT "${components}")

file(GENERATE
OUTPUT
"${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>/share/ament_index/resource_index/rclcpp_components/invalid_${PROJECT_NAME}"
CONTENT "${invalid_components}")

set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
if(WIN32)
set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
Expand Down
1 change: 0 additions & 1 deletion rclcpp_components/test/components/test_component.cpp
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Expand Up @@ -55,7 +55,6 @@ class TestComponentNoNode
rclcpp::Node node_;
};


} // namespace test_rclcpp_components

#include "rclcpp_components/register_node_macro.hpp"
Expand Down
5 changes: 5 additions & 0 deletions rclcpp_components/test/test_component_manager.cpp
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Expand Up @@ -88,4 +88,9 @@ TEST_F(TestComponentManager, create_component_factory_invalid)
auto resources = manager->get_component_resources("rclcpp_components");
auto factory = manager->create_component_factory({"foo_class", resources[0].second});
EXPECT_EQ(nullptr, factory);

// Test improperly formed resources file
EXPECT_THROW(
auto resources = manager->get_component_resources("invalid_rclcpp_components"),
rclcpp_components::ComponentManagerException);
}
75 changes: 71 additions & 4 deletions rclcpp_components/test/test_component_manager_api.cpp
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Expand Up @@ -143,6 +143,65 @@ TEST_F(TestComponentManager, components_api)
EXPECT_EQ(result.get()->unique_id, 0u);
}

{
// Remap rules
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_remap";
request->remap_rules.push_back("alice:=bob");

auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
EXPECT_EQ(result.get()->full_node_name, "/test_component_remap");
EXPECT_EQ(result.get()->unique_id, 5u);
}

{
// use_intra_process_comms
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_intra_process";
rclcpp::Parameter use_intraprocess_comms("use_intra_process_comms",
rclcpp::ParameterValue(true));
request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg());

auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
std::cout << result.get()->full_node_name << std::endl;
EXPECT_EQ(result.get()->full_node_name, "/test_component_intra_process");
EXPECT_EQ(result.get()->unique_id, 6u);
}

{
// use_intra_process_comms is not a bool type parameter
auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
request->package_name = "rclcpp_components";
request->plugin_name = "test_rclcpp_components::TestComponentFoo";
request->node_name = "test_component_intra_process_str";

rclcpp::Parameter use_intraprocess_comms("use_intra_process_comms",
rclcpp::ParameterValue("hello"));
request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg());

auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, false);
EXPECT_EQ(
result.get()->error_message,
"Extra component argument 'use_intra_process_comms' must be a boolean");
EXPECT_EQ(result.get()->full_node_name, "");
EXPECT_EQ(result.get()->unique_id, 0u);
}

auto node_names = node->get_node_names();

auto find_in_nodes = [node_names](std::string name) {
Expand Down Expand Up @@ -170,16 +229,20 @@ TEST_F(TestComponentManager, components_api)
auto node_names = result.get()->full_node_names;
auto unique_ids = result.get()->unique_ids;

EXPECT_EQ(node_names.size(), 4u);
EXPECT_EQ(node_names.size(), 6u);
EXPECT_EQ(node_names[0], "/test_component_foo");
EXPECT_EQ(node_names[1], "/test_component_bar");
EXPECT_EQ(node_names[2], "/test_component_baz");
EXPECT_EQ(node_names[3], "/ns/test_component_bing");
EXPECT_EQ(unique_ids.size(), 4u);
EXPECT_EQ(node_names[4], "/test_component_remap");
EXPECT_EQ(node_names[5], "/test_component_intra_process");
EXPECT_EQ(unique_ids.size(), 6u);
EXPECT_EQ(unique_ids[0], 1u);
EXPECT_EQ(unique_ids[1], 2u);
EXPECT_EQ(unique_ids[2], 3u);
EXPECT_EQ(unique_ids[3], 4u);
EXPECT_EQ(unique_ids[4], 5u);
EXPECT_EQ(unique_ids[5], 6u);
}
}

Expand Down Expand Up @@ -230,14 +293,18 @@ TEST_F(TestComponentManager, components_api)
auto node_names = result.get()->full_node_names;
auto unique_ids = result.get()->unique_ids;

EXPECT_EQ(node_names.size(), 3u);
EXPECT_EQ(node_names.size(), 5u);
EXPECT_EQ(node_names[0], "/test_component_bar");
EXPECT_EQ(node_names[1], "/test_component_baz");
EXPECT_EQ(node_names[2], "/ns/test_component_bing");
EXPECT_EQ(unique_ids.size(), 3u);
EXPECT_EQ(node_names[3], "/test_component_remap");
EXPECT_EQ(node_names[4], "/test_component_intra_process");
EXPECT_EQ(unique_ids.size(), 5u);
EXPECT_EQ(unique_ids[0], 2u);
EXPECT_EQ(unique_ids[1], 3u);
EXPECT_EQ(unique_ids[2], 4u);
EXPECT_EQ(unique_ids[3], 5u);
EXPECT_EQ(unique_ids[4], 6u);
}
}
}