00b4020194
* Check period duration in create_wall_timer Signed-off-by: Stephen Brawner <brawner@gmail.com> * Adding comments Signed-off-by: Stephen Brawner <brawner@gmail.com>
119 lines
3.5 KiB
C++
119 lines
3.5 KiB
C++
// Copyright 2019 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 <atomic>
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#include <chrono>
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#include <memory>
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#include "node_interfaces/node_wrapper.hpp"
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#include "rclcpp/create_timer.hpp"
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#include "rclcpp/executors.hpp"
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#include "rclcpp/node.hpp"
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using namespace std::chrono_literals;
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TEST(TestCreateTimer, timer_executes)
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{
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rclcpp::init(0, nullptr);
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auto node = std::make_shared<rclcpp::Node>("test_create_timer_node");
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std::atomic<bool> got_callback{false};
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rclcpp::TimerBase::SharedPtr timer;
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timer = rclcpp::create_timer(
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node,
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node->get_clock(),
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rclcpp::Duration(0ms),
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[&got_callback, &timer]() {
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got_callback = true;
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timer->cancel();
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});
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rclcpp::spin_some(node);
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ASSERT_TRUE(got_callback);
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rclcpp::shutdown();
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}
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TEST(TestCreateTimer, call_with_node_wrapper_compiles)
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{
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rclcpp::init(0, nullptr);
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NodeWrapper node("test_create_timer_call_with_node_wrapper_compiles");
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rclcpp::TimerBase::SharedPtr timer;
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timer = rclcpp::create_timer(
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node,
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node.get_node_clock_interface()->get_clock(),
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rclcpp::Duration(0ms),
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[]() {});
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rclcpp::shutdown();
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}
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TEST(TestCreateTimer, call_wall_timer_with_bad_arguments)
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{
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rclcpp::init(0, nullptr);
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NodeWrapper node("test_create_wall_timers_with_bad_arguments");
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auto callback = []() {};
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rclcpp::CallbackGroup::SharedPtr group = nullptr;
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auto node_interface =
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rclcpp::node_interfaces::get_node_base_interface(node).get();
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auto timers_interface =
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rclcpp::node_interfaces::get_node_timers_interface(node).get();
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// Negative period
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EXPECT_THROW(
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rclcpp::create_wall_timer(-1ms, callback, group, node_interface, timers_interface),
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std::invalid_argument);
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// Very negative period
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constexpr auto nanoseconds_min = std::chrono::nanoseconds::min();
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EXPECT_THROW(
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rclcpp::create_wall_timer(
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nanoseconds_min, callback, group, node_interface, timers_interface),
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std::invalid_argument);
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// Period must be less than nanoseconds::max()
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constexpr auto nanoseconds_max = std::chrono::nanoseconds::min();
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EXPECT_THROW(
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rclcpp::create_wall_timer(
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nanoseconds_max, callback, group, node_interface, timers_interface),
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std::invalid_argument);
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EXPECT_NO_THROW(
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rclcpp::create_wall_timer(
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nanoseconds_max - 1us, callback, group, node_interface, timers_interface));
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EXPECT_NO_THROW(
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rclcpp::create_wall_timer(0ms, callback, group, node_interface, timers_interface));
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// Period must be less than nanoseconds::max()
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constexpr auto hours_max = std::chrono::hours::max();
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EXPECT_THROW(
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rclcpp::create_wall_timer(hours_max, callback, group, node_interface, timers_interface),
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std::invalid_argument);
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// node_interface is null
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EXPECT_THROW(
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rclcpp::create_wall_timer(1ms, callback, group, nullptr, timers_interface),
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std::invalid_argument);
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// timers_interface is null
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EXPECT_THROW(
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rclcpp::create_wall_timer(1ms, callback, group, node_interface, nullptr),
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std::invalid_argument);
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rclcpp::shutdown();
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}
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