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Add test fixtures for Arrays.srv #84

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Jul 20, 2019
Merged

Add test fixtures for Arrays.srv #84

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ce12ee4
Add test fixtures for Arrays.srv
jacobperron Jul 17, 2019
8d660c1
Remove unused import
jacobperron Jul 17, 2019
1ac495d
Add missing include
jacobperron Jul 17, 2019
2f0076c
Address review
jacobperron Jul 19, 2019
654a7ea
Move variable declaration closer to where it is used
jacobperron Jul 19, 2019
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80 changes: 79 additions & 1 deletion test_msgs/include/test_msgs/service_fixtures.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,12 +15,15 @@
#ifndef TEST_MSGS__SERVICE_FIXTURES_HPP_
#define TEST_MSGS__SERVICE_FIXTURES_HPP_

#include <limits>
#include <memory>
#include <utility>
#include <vector>

#include "test_msgs/srv/empty.hpp"
#include "test_msgs/message_fixtures.hpp"
#include "test_msgs/srv/arrays.hpp"
#include "test_msgs/srv/basic_types.hpp"
#include "test_msgs/srv/empty.hpp"


std::vector<
Expand Down Expand Up @@ -136,4 +139,79 @@ get_services_basic_types()
return services;
}

std::vector<
std::pair<
test_msgs::srv::Arrays::Request::SharedPtr,
test_msgs::srv::Arrays::Response::SharedPtr
>
>
get_services_arrays()
{
std::vector<
std::pair<
test_msgs::srv::Arrays::Request::SharedPtr,
test_msgs::srv::Arrays::Response::SharedPtr
>
> services;
{
auto request = std::make_shared<test_msgs::srv::Arrays::Request>();
request->bool_values = {{false, true, false}};
request->byte_values = {{0, 0xff, 0}};
request->char_values = {{0, 255, 0}};
request->float32_values = {{0.0f, 1.125f, -2.125f}};
request->float64_values = {{0, 1.125, -2.125}};
request->int8_values = {{
0, (std::numeric_limits<int8_t>::max)(), (std::numeric_limits<int8_t>::min)()}};
request->uint8_values = {{0, (std::numeric_limits<uint8_t>::max)(), 0}};
request->int16_values = {{
0, (std::numeric_limits<int16_t>::max)(), (std::numeric_limits<int16_t>::min)()}};
request->uint16_values = {{0, (std::numeric_limits<uint16_t>::max)(), 0}};
request->int32_values = {{
static_cast<int32_t>(0),
(std::numeric_limits<int32_t>::max)(),
(std::numeric_limits<int32_t>::min)()
}};
request->uint32_values = {{0, (std::numeric_limits<uint32_t>::max)(), 0}};
request->int64_values[0] = 0;
request->int64_values[1] = (std::numeric_limits<int64_t>::max)();
request->int64_values[2] = (std::numeric_limits<int64_t>::min)();
request->uint64_values = {{0, (std::numeric_limits<uint64_t>::max)(), 0}};
request->string_values = {{"", "max value", "min value"}};
auto basic_types_msgs = get_messages_basic_types();
request->basic_types_values[0] = *basic_types_msgs[0];
request->basic_types_values[1] = *basic_types_msgs[1];
request->basic_types_values[2] = *basic_types_msgs[2];

auto reply = std::make_shared<test_msgs::srv::Arrays::Response>();
reply->bool_values = {{true, false, false}};
reply->byte_values = {{0xff, 0, 0}};
reply->char_values = {{255, 0, 0}};
reply->float32_values = {{1.125f, 0.0f, -2.125f}};
reply->float64_values = {{1.125, 0, -2.125}};
reply->int8_values = {{
(std::numeric_limits<int8_t>::max)(), 0, (std::numeric_limits<int8_t>::min)()}};
reply->uint8_values = {{(std::numeric_limits<uint8_t>::max)(), 0, 0}};
reply->int16_values = {{
(std::numeric_limits<int16_t>::max)(), 0, (std::numeric_limits<int16_t>::min)()}};
reply->uint16_values = {{(std::numeric_limits<uint16_t>::max)(), 0, 0}};
reply->int32_values = {{
(std::numeric_limits<int32_t>::max)(),
static_cast<int32_t>(0),
(std::numeric_limits<int32_t>::min)()
}};
reply->uint32_values = {{(std::numeric_limits<uint32_t>::max)(), 0, 0}};
reply->int64_values[0] = (std::numeric_limits<int64_t>::max)();
reply->int64_values[1] = 0;
reply->int64_values[2] = (std::numeric_limits<int64_t>::min)();
reply->uint64_values = {{(std::numeric_limits<uint64_t>::max)(), 0, 0}};
reply->string_values = {{"max value", "", "min value"}};
reply->basic_types_values[0] = *basic_types_msgs[1];
reply->basic_types_values[1] = *basic_types_msgs[0];
reply->basic_types_values[2] = *basic_types_msgs[2];

services.emplace_back(request, reply);
}
return services;
}

#endif // TEST_MSGS__SERVICE_FIXTURES_HPP_
54 changes: 52 additions & 2 deletions test_msgs/src/test_msgs/service_fixtures.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@
# See the License for the specific language governing permissions and
# limitations under the License.

# TODO(jacobperron): Rename functions to match C++ equivalents
from test_msgs.message_fixtures import get_msg_basic_types as get_messages_basic_types
from test_msgs.srv import Arrays
from test_msgs.srv import BasicTypes
from test_msgs.srv import Empty

Expand Down Expand Up @@ -97,11 +100,58 @@ def get_msg_basic_types():
return srvs


def get_msg_arrays():
srvs = []
req = Arrays.Request()
req.bool_values = [False, True, False]
req.char_values = [0, 255, 0]
req.byte_values = [bytes([0]), bytes([255]), bytes([0])]
req.float32_values = [0.0, 1.125, -2.125]
req.float64_values = [0.0, 1.125, -2.125]
req.int8_values = [0, 127, -128]
req.uint8_values = [0, 255, 0]
req.int16_values = [0, 32767, -32768]
req.uint16_values = [0, 65535, 0]
req.int32_values = [0, 2147483647, -2147483648]
req.uint32_values = [0, 4294967295, 0]
req.int64_values = [0, 9223372036854775807, -9223372036854775808]
req.uint64_values = [0, 18446744073709551615, 0]
req.string_values = ['', 'max value', 'min value']
basic_types_msgs = get_messages_basic_types()
req.basic_types_values[0] = basic_types_msgs[0]
req.basic_types_values[1] = basic_types_msgs[1]
req.basic_types_values[2] = basic_types_msgs[2]

resp = Arrays.Response()
resp.bool_values = [True, False, False]
resp.char_values = [255, 0, 0]
resp.byte_values = [bytes([255]), bytes([0]), bytes([0])]
resp.float32_values = [1.125, 0.0, -2.125]
resp.float64_values = [1.125, 0.0, -2.125]
resp.int8_values = [127, 0, -128]
resp.uint8_values = [255, 0, 0]
resp.int16_values = [32767, 0, -32768]
resp.uint16_values = [65535, 0, 0]
resp.int32_values = [2147483647, 0, -2147483648]
resp.uint32_values = [4294967295, 0, 0]
resp.int64_values = [9223372036854775807, 0, -9223372036854775808]
resp.uint64_values = [18446744073709551615, 0, 0]
resp.string_values = ['max value', '', 'min value']
resp.basic_types_values[0] = basic_types_msgs[1]
resp.basic_types_values[1] = basic_types_msgs[0]
resp.basic_types_values[2] = basic_types_msgs[2]

srvs.append([req, resp])
return srvs


def get_test_srv(service_name):
if 'Empty' == service_name:
srv = get_msg_empty()
if 'Arrays' == service_name:
srv = get_msg_arrays()
elif 'BasicTypes' == service_name:
srv = get_msg_basic_types()
elif 'Empty' == service_name:
srv = get_msg_empty()
else:
raise NotImplementedError('%s service is not part of the test suite', service_name)
return srv