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Add tests for function templates of declare_parameter (#1747)
* Add function template tests for all defined types of declare_parameter Signed-off-by: Nico Neumann <[email protected]>
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‎rclcpp/test/rclcpp/test_node.cpp‎

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@@ -2614,6 +2614,163 @@ TEST_F(TestNode, declare_parameter_with_vector) {
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}
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}
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// test non-array data types for declare parameter function templates that are explicitly defined
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TEST_F(TestNode, declare_parameter_allowed_simple_types_function_templates) {
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auto node = std::make_shared<rclcpp::Node>(
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"test_declare_parameter_allowed_simple_types_function_templates"_unq);
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{
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// declare parameter and then get types to check
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auto name1 = "parameter"_unq;
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auto name2 = "parameter"_unq;
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auto name3 = "parameter"_unq;
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auto name4 = "parameter"_unq;
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auto name5 = "parameter"_unq;
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auto name6 = "parameter"_unq;
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auto name7 = "parameter"_unq;
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node->declare_parameter<bool>(name1, false);
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node->declare_parameter<int>(name2, 1234);
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node->declare_parameter<int64_t>(name3, 12340);
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node->declare_parameter<float>(name4, static_cast<float>(12.34));
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node->declare_parameter<double>(name5, 12.34); // called float64 in ros2 design parameters page
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node->declare_parameter<std::string>(name6, "test string");
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auto str = "test param";
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node->declare_parameter<const char *>(name7, str);
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EXPECT_TRUE(node->has_parameter(name1));
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EXPECT_TRUE(node->has_parameter(name2));
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EXPECT_TRUE(node->has_parameter(name3));
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EXPECT_TRUE(node->has_parameter(name4));
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EXPECT_TRUE(node->has_parameter(name5));
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EXPECT_TRUE(node->has_parameter(name6));
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EXPECT_TRUE(node->has_parameter(name7));
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auto results = node->get_parameter_types({name1, name2, name3, name4, name5, name6, name7});
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EXPECT_EQ(results.size(), 7u);
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EXPECT_EQ(results[0], rcl_interfaces::msg::ParameterType::PARAMETER_BOOL);
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EXPECT_EQ(results[1], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER);
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EXPECT_EQ(results[2], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER);
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EXPECT_EQ(results[3], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE);
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EXPECT_EQ(results[4], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE);
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EXPECT_EQ(results[5], rcl_interfaces::msg::ParameterType::PARAMETER_STRING);
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EXPECT_EQ(results[6], rcl_interfaces::msg::ParameterType::PARAMETER_STRING);
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}
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{
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// declare parameter and then get values to check
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auto name1 = "parameter"_unq;
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auto name2 = "parameter"_unq;
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auto name3 = "parameter"_unq;
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auto name4 = "parameter"_unq;
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auto name5 = "parameter"_unq;
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auto name6 = "parameter"_unq;
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auto name7 = "parameter"_unq;
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node->declare_parameter<bool>(name1, false);
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node->declare_parameter<int>(name2, 4321);
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node->declare_parameter<int64_t>(name3, 43210);
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node->declare_parameter<float>(name4, static_cast<float>(43.21));
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node->declare_parameter<double>(name5, 12.34); // called float64 in ros2 design parameters page
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node->declare_parameter<std::string>(name6, "test string");
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auto str = "test param";
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node->declare_parameter<const char *>(name7, str);
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std::vector<rclcpp::Parameter> expected = {
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{name1, false},
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{name2, 4321},
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{name3, 43210},
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{name4, static_cast<float>(43.21)},
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{name5, 12.34},
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{name6, "test string"},
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{name7, str}
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};
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EXPECT_EQ(node->get_parameters({name1, name2, name3, name4, name5, name6, name7}), expected);
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}
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}
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// test array data types for declare parameter function templates that are explicitly defined
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TEST_F(TestNode, declare_parameter_allowed_array_types_function_templates) {
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auto node = std::make_shared<rclcpp::Node>(
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"test_declare_parameter_allowed_array_types_function_templates"_unq);
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{
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// declare parameter and then get types to check
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auto name1 = "parameter"_unq;
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auto name2 = "parameter"_unq;
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auto name3 = "parameter"_unq;
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auto name4 = "parameter"_unq;
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auto name5 = "parameter"_unq;
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auto name6 = "parameter"_unq;
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auto name7 = "parameter"_unq;
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node->declare_parameter<std::vector<uint8_t>>(name1, std::vector<uint8_t>{3, 4, 5, 7, 9});
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node->declare_parameter<std::vector<bool>>(name2, std::vector<bool>{false, true});
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node->declare_parameter<std::vector<int>>(name3, std::vector<int>{1234, 2345});
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node->declare_parameter<std::vector<int64_t>>(name4, std::vector<int64_t>{12340, 9876});
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node->declare_parameter<std::vector<float>>(
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name5, std::vector<float>{static_cast<float>(12.34),
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static_cast<float>(98.78)});
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node->declare_parameter<std::vector<double>>(
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name6,
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std::vector<double>{12.34, 55.66}); // called float64 in ros2 design parameters page
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node->declare_parameter<std::vector<std::string>>(
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name7, std::vector<std::string>{"test string",
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"another test str"});
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EXPECT_TRUE(node->has_parameter(name1));
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EXPECT_TRUE(node->has_parameter(name2));
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EXPECT_TRUE(node->has_parameter(name3));
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EXPECT_TRUE(node->has_parameter(name4));
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EXPECT_TRUE(node->has_parameter(name5));
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EXPECT_TRUE(node->has_parameter(name6));
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EXPECT_TRUE(node->has_parameter(name7));
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auto results = node->get_parameter_types({name1, name2, name3, name4, name5, name6, name7});
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EXPECT_EQ(results.size(), 7u);
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EXPECT_EQ(results[0], rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY);
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EXPECT_EQ(results[1], rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY);
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EXPECT_EQ(results[2], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
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EXPECT_EQ(results[3], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
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EXPECT_EQ(results[4], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY);
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EXPECT_EQ(results[5], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY);
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EXPECT_EQ(results[6], rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY);
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}
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{
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// declare parameter and then get values to check
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auto name1 = "parameter"_unq;
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auto name2 = "parameter"_unq;
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auto name3 = "parameter"_unq;
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auto name4 = "parameter"_unq;
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auto name5 = "parameter"_unq;
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auto name6 = "parameter"_unq;
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auto name7 = "parameter"_unq;
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std::vector<uint8_t> byte_arr = {0xD, 0xE, 0xA, 0xD};
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node->declare_parameter<std::vector<uint8_t>>(name1, byte_arr);
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node->declare_parameter<std::vector<bool>>(name2, std::vector<bool>{true, false, true});
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node->declare_parameter<std::vector<int>>(name3, std::vector<int>{22, 33, 55, 77});
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node->declare_parameter<std::vector<int64_t>>(name4, std::vector<int64_t>{456, 765});
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node->declare_parameter<std::vector<float>>(
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name5, std::vector<float>{static_cast<float>(99.11),
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static_cast<float>(11.99)});
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node->declare_parameter<std::vector<double>>(
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name6,
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std::vector<double>{12.21, 55.55, 98.89}); // called float64 in ros2 design parameters page
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node->declare_parameter<std::vector<std::string>>(
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name7, std::vector<std::string>{"ros2",
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"colcon", "ignition"});
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std::vector<rclcpp::Parameter> expected = {
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{name1, std::vector<uint8_t>{0xD, 0xE, 0xA, 0xD}},
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{name2, std::vector<bool>{true, false, true}},
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{name3, std::vector<int>{22, 33, 55, 77}},
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{name4, std::vector<int64_t>{456, 765}},
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{name5, std::vector<float>{static_cast<float>(99.11), static_cast<float>(11.99)}},
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{name6, std::vector<double>{12.21, 55.55, 98.89}},
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{name7, std::vector<std::string>{"ros2", "colcon", "ignition"}}
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};
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EXPECT_EQ(node->get_parameters({name1, name2, name3, name4, name5, name6, name7}), expected);
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}
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}
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void expect_qos_profile_eq(
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const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
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{

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