79 lines
2.0 KiB
C++
79 lines
2.0 KiB
C++
// Copyright 2022 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <chrono>
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#include <string>
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#include <memory>
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#include <utility>
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#include "rclcpp/exceptions.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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#include "rmw/qos_profiles.h"
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#include "test_msgs/srv/empty.hpp"
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using namespace std::chrono_literals;
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class TestService : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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static void TearDownTestCase()
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{
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rclcpp::shutdown();
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}
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void SetUp()
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{
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node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("my_lifecycle_node", "/ns");
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}
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void TearDown()
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{
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node.reset();
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}
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rclcpp_lifecycle::LifecycleNode::SharedPtr node;
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};
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/*
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Testing service construction and destruction.
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*/
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TEST_F(TestService, construction_and_destruction) {
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using test_msgs::srv::Empty;
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auto callback =
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[](const Empty::Request::SharedPtr, Empty::Response::SharedPtr) {
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};
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{
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auto service = node->create_service<Empty>("service", callback);
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EXPECT_NE(nullptr, service->get_service_handle());
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const rclcpp::ServiceBase * const_service_base = service.get();
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EXPECT_NE(nullptr, const_service_base->get_service_handle());
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}
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{
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ASSERT_THROW(
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{
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auto service = node->create_service<Empty>("invalid_service?", callback);
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}, rclcpp::exceptions::InvalidServiceNameError);
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}
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}
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