C++ (Cpp) get_node_base_interfaceの例

コード例 #1

TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
  auto node_handle = rclcpp::node::Node::make_shared("base_node");

  // mock for externally defined service
  rcl_service_t service_handle = rcl_get_zero_initialized_service();
  rcl_service_options_t service_options = rcl_service_get_default_options();
  const rosidl_service_type_support_t * ts =
    rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
  rcl_ret_t ret = rcl_service_init(
    &service_handle,
    node_handle->get_node_base_interface()->get_rcl_node_handle(),
    ts, "base_node_service", &service_options);
  if (ret != RCL_RET_OK) {
    FAIL();
    return;
  }

  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;

  try {
    rclcpp::service::Service<rclcpp::srv::Mock>(
      node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
      &service_handle, cb);
  } catch (const std::runtime_error &) {
    FAIL();
    return;
  }

  SUCCEED();
}

コード例 #2

ファイル: test_externally_defined_services.cpp プロジェクト: jwang11/rclcpp

TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
  auto node_handle = rclcpp::Node::make_shared("base_node");

  // mock for externally defined service
  rcl_service_t service_handle = rcl_get_zero_initialized_service();
  rcl_service_options_t service_options = rcl_service_get_default_options();
  const rosidl_service_type_support_t * ts =
    rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
  rcl_ret_t ret = rcl_service_init(
    &service_handle,
    node_handle->get_node_base_interface()->get_rcl_node_handle(),
    ts, "base_node_service", &service_options);
  if (ret != RCL_RET_OK) {
    FAIL();
    return;
  }
  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;

  {
    // Call constructor
    rclcpp::Service<rclcpp::srv::Mock> srv_cpp(
      node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
      &service_handle, cb);
    // Call destructor
  }

  if (!service_handle.impl) {
    FAIL();
    return;
  }
  SUCCEED();
}

コード例 #3

ファイル: test_find_weak_nodes.cpp プロジェクト: ros2/rclcpp

TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
  // GIVEN
  // A vector of weak pointers to nodes
  auto memory_strategy = std::make_shared<
    rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
  auto existing_node = rclcpp::Node::make_shared("existing_node");
  auto dead_node = rclcpp::Node::make_shared("dead_node");
  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
  weak_nodes.push_back(existing_node->get_node_base_interface());
  weak_nodes.push_back(dead_node->get_node_base_interface());

  // AND
  // Delete dead_node, creating a dangling pointer in weak_nodes
  dead_node.reset();
  ASSERT_FALSE(weak_nodes.front().expired());
  ASSERT_TRUE(weak_nodes.back().expired());

  // WHEN
  bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);

  // THEN
  // The result of finding dangling node pointers should be true
  ASSERT_TRUE(has_invalid_weak_nodes);

  // Prevent memory leak due to the order of destruction
  memory_strategy->clear_handles();
}

コード例 #4

ファイル: test_find_weak_nodes.cpp プロジェクト: ros2/rclcpp

TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
  // GIVEN
  // A vector of weak pointers to nodes, all valid
  auto memory_strategy = std::make_shared<
    rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
  auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
  auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
  weak_nodes.push_back(existing_node1->get_node_base_interface());
  weak_nodes.push_back(existing_node2->get_node_base_interface());
  ASSERT_FALSE(weak_nodes.front().expired());
  ASSERT_FALSE(weak_nodes.back().expired());

  // WHEN
  bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);

  // THEN
  // The result of finding dangling node pointers should be false
  ASSERT_FALSE(has_invalid_weak_nodes);

  // Prevent memory leak due to the order of destruction
  memory_strategy->clear_handles();
}

コード例 #5

TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
  auto node_handle = rclcpp::node::Node::make_shared("base_node");

  // mock for externally defined service
  rcl_service_t service_handle = rcl_get_zero_initialized_service();

  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;

  // don't initialize the service
  // expect fail
  try {
    rclcpp::service::Service<rclcpp::srv::Mock>(
      node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
      &service_handle, cb);
  } catch (const std::runtime_error &) {
    SUCCEED();
    return;
  }

  FAIL();
}