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Add tests for declaring statically typed parameters when undeclared parameters are allowed #1575

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Merged
ivanpauno merged 2 commits into from
Mar 9, 2021
Merged

Add tests for declaring statically typed parameters when undeclared parameters are allowed #1575

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42e7cf4
Add tests for declaring statically typed parameters when undeclared p…
ivanpauno Mar 8, 2021
6b7533f
Add one extra test case
ivanpauno Mar 9, 2021
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40 changes: 40 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 @@ -409,6 +409,46 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
}
}

TEST_F(TestNode, declare_parameter_with_allow_undeclared_parameters) {
// test cases without initial values
auto node = std::make_shared<rclcpp::Node>(
"test_declare_parameter_node"_unq, "/",
rclcpp::NodeOptions{}.allow_undeclared_parameters(true));
{
// declared parameters static typing is still enforced
auto param_name = "parameter"_unq;
auto value = node->declare_parameter(param_name, 5);
EXPECT_EQ(value, 5);
EXPECT_FALSE(node->set_parameter({param_name, "asd"}).successful);
auto param = node->get_parameter(param_name);
EXPECT_EQ(param.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(param.get_value<int64_t>(), 5);
}
{
// not for automatically declared parameters
auto param_name = "parameter"_unq;
EXPECT_TRUE(node->set_parameter({param_name, 5}).successful);
auto param = node->get_parameter(param_name);
EXPECT_EQ(param.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(param.get_value<int64_t>(), 5);
EXPECT_TRUE(node->set_parameter({param_name, "asd"}).successful);
param = node->get_parameter(param_name);
EXPECT_EQ(param.get_type(), rclcpp::PARAMETER_STRING);
EXPECT_EQ(param.get_value<std::string>(), "asd");
}
{
// declare after set is invalid
auto param_name = "parameter"_unq;
EXPECT_TRUE(node->set_parameter({param_name, 5}).successful);
auto param = node->get_parameter(param_name);
EXPECT_EQ(param.get_type(), rclcpp::PARAMETER_INTEGER);
EXPECT_EQ(param.get_value<int64_t>(), 5);
EXPECT_THROW(
node->declare_parameter(param_name, 5),
rclcpp::exceptions::ParameterAlreadyDeclaredException);
}
}

auto get_fixed_on_parameter_set_callback(const std::string & name, bool successful)
{
return
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