test_ros2_middleware.cpp File Reference

#include "test.h"
#include <carla/ros2/middleware/Middleware.h>
#include <carla/ros2/middleware/MiddlewareConfig.h>
#include <carla/ros2/middleware/MiddlewareFactory.h>
#include <carla/ros2/middleware/IPublisherMiddleware.h>
#include <carla/ros2/middleware/ISubscriberMiddleware.h>
#include <carla/ros2/publishers/PublisherImpl.h>
#include <carla/ros2/subscribers/SubscriberImpl.h>
#include <carla/ros2/middleware/cyclonedds/CycloneDDSSertype.h>
#include <carla/ros2/middleware/fastdds/GenericCdrPubSubType.h>
#include <carla/ros2/middleware/zenoh/ZenohWireFormat.h>
#include <carla/ros2/types/CdrSerialization.h>
#include <carla/ros2/types/CdrTopicInfo.h>
#include <algorithm>
#include <cstdint>
#include <cstdlib>
#include <memory>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
class	MiddlewareConfigFixture
class	MiddlewareFactoryFixture
class	MockPublisherMiddleware
class	MockSubscriberMiddleware
class	RosDomainIdEnvFixture
class	ZenohDomainIdFixture

Macros
#define	CARLA_ROS2_MIDDLEWARE_FASTDDS
#define	CARLA_ROS2_MIDDLEWARE_TESTING

Functions
	TEST (cdr_serialization, carla_ego_vehicle_control_round_trip)
	TEST (cdr_serialization, carla_line_invasion_round_trip)
	TEST (cdr_serialization, cdr_serialized_size_image_exceeds_static_max)
	TEST (cdr_serialization, cdr_serialized_size_matches_serialize_to_cdr)
	TEST (cdr_serialization, cdr_serialized_size_pointcloud2_exceeds_static_max)
	TEST (cdr_serialization, clock_round_trip)
	TEST (cdr_serialization, deserialize_corrupt_encapsulation_returns_false)
	TEST (cdr_serialization, deserialize_pointcloud2_hostile_length_returns_false)
	TEST (cdr_serialization, deserialize_tfmessage_hostile_length_returns_false)
	TEST (cdr_serialization, deserialize_truncated_returns_false)
	TEST (cdr_serialization, empty_tfmessage_round_trip)
	TEST (cdr_serialization, header_round_trip)
	TEST (cdr_serialization, image_round_trip)
	TEST (cdr_serialization, imu_round_trip)
	TEST (cdr_serialization, navsat_fix_round_trip)
	TEST (cdr_serialization, pointcloud2_multi_field_round_trip)
	TEST (cdr_serialization, pointcloud2_round_trip)
	TEST (cdr_serialization, tfmessage_multi_transform_round_trip)
	TEST (cdr_serialization, tfmessage_round_trip)
	TEST (cdr_serialization, time_golden_xcdrv1_bytes)
	TEST (cdr_serialization, time_round_trip)
	TEST (cdr_serialization, vector3_round_trip)
	TEST (cdr_topic_info, max_sizes_are_positive)
	TEST (cdr_topic_info, type_names_are_non_empty)
	TEST (cyclonedds_fragment_gather, large_pointcloud_round_trips_through_fragments)
	TEST (cyclonedds_fragment_gather, multi_fragment_reassembles_in_order)
	TEST (cyclonedds_fragment_gather, overlapping_fragments_gather_once)
	TEST (cyclonedds_fragment_gather, oversized_fragment_is_clamped_to_size)
	TEST (cyclonedds_fragment_gather, single_fragment_copies_all)
	TEST (cyclonedds_fragment_gather, truncated_chain_reports_short_count)
	TEST (domain_id_parsing, above_max_is_rejected)
	TEST (domain_id_parsing, empty_string_is_rejected)
	TEST (domain_id_parsing, max_value_is_accepted)
	TEST (domain_id_parsing, mid_value_is_accepted)
	TEST (domain_id_parsing, negative_is_rejected)
	TEST (domain_id_parsing, non_numeric_is_rejected)
	TEST (domain_id_parsing, nullptr_is_rejected)
	TEST (domain_id_parsing, trailing_garbage_is_rejected)
	TEST (domain_id_parsing, zero_is_accepted)
	TEST (domain_id_resolution, command_line_wins_over_environment)
	TEST (domain_id_resolution, command_line_zero_wins_over_environment)
	TEST (domain_id_resolution, default_when_both_absent)
	TEST (domain_id_resolution, default_when_environment_empty)
	TEST (domain_id_resolution, environment_used_when_command_line_unset)
	TEST (domain_id_resolution, invalid_command_line_falls_through_to_environment)
	TEST (domain_id_resolution, invalid_environment_falls_back_to_default)
	TEST (generic_cdr_pubsubtype, create_and_delete_data)
	TEST (generic_cdr_pubsubtype, getkey_returns_false)
	TEST (generic_cdr_pubsubtype, m_typesize_is_positive)
	TEST (generic_cdr_pubsubtype, serialize_deserialize_fixed_size_via_payload)
	TEST (generic_cdr_pubsubtype, serialize_deserialize_string_type_via_payload)
	TEST (generic_cdr_pubsubtype, type_name_matches_cdr_topic_info)
	TEST (generic_cdr_pubsubtype_large_payload, image_large_payload_serialize_succeeds)
	TEST (generic_cdr_pubsubtype_large_payload, pointcloud2_large_payload_serialize_succeeds)
	TEST (generic_cdr_pubsubtype_large_payload, size_provider_returns_actual_size_not_max)
	TEST (middleware_available, available_string_contains_fastdds)
	TEST (middleware_available, cyclonedds_not_available_without_macro)
	TEST (middleware_available, fastdds_available)
	TEST (middleware_available, zenoh_not_available_without_macro)
	TEST (middleware_config_valid, above_max_is_invalid)
	TEST (middleware_config_valid, max_is_valid)
	TEST (middleware_config_valid, one_is_valid)
	TEST (middleware_config_valid, unset_sentinel_is_invalid)
	TEST (middleware_config_valid, zero_is_valid)
	TEST (middleware_from_string, cyclonedds_lowercase_valid)
	TEST (middleware_from_string, empty_string_invalid)
	TEST (middleware_from_string, fastdds_lowercase_valid)
	TEST (middleware_from_string, partial_match_rejected)
	TEST (middleware_from_string, unknown_string_invalid)
	TEST (middleware_from_string, uppercase_rejected)
	TEST (middleware_from_string, zenoh_lowercase_valid)
	TEST (middleware_to_string, cyclonedds_returns_correct_string)
	TEST (middleware_to_string, fastdds_returns_correct_string)
	TEST (middleware_to_string, zenoh_returns_correct_string)
	TEST (middleware_type_name, bare_name)
	TEST (middleware_type_name, empty_string)
	TEST (middleware_type_name, fully_qualified)
	TEST (middleware_type_name, single_namespace)
	TEST (publisher_impl, data_flows_through_publish)
	TEST (publisher_impl, get_message_returns_pointer)
	TEST (publisher_impl, init_delegates_to_middleware)
	TEST (publisher_impl, is_alive_delegates)
	TEST (publisher_impl, publish_before_init_fails)
	TEST (publisher_impl, publish_delegates_to_middleware)
	TEST (publisher_impl, topic_name_delegates)
	TEST (subscriber_impl, get_message_clears_flag)
	TEST (subscriber_impl, has_new_message_initially_false)
	TEST (subscriber_impl, init_delegates_to_middleware)
	TEST (subscriber_impl, init_failure_propagated)
	TEST (subscriber_impl, is_alive_delegates)
	TEST (subscriber_impl, simulate_message_receipt)
	TEST (subscriber_impl, topic_name_delegates)
	TEST (zenoh_wire_format, node_liveliness_keyexpr_starts_with_domain_segment)
	TEST (zenoh_wire_format, topic_keyexpr_starts_with_domain_segment)
	TEST (zenoh_wire_format, topic_liveliness_keyexpr_has_domain_and_mangled_topic)
	TEST_F (MiddlewareConfigFixture, default_domain_id_is_unset)
	TEST_F (MiddlewareConfigFixture, set_and_get_round_trip)
	TEST_F (MiddlewareConfigFixture, set_zero_is_stored)
	TEST_F (MiddlewareFactoryFixture, create_publisher_cyclonedds_unavailable)
	TEST_F (MiddlewareFactoryFixture, create_publisher_zenoh_unavailable)
	TEST_F (MiddlewareFactoryFixture, create_subscriber_cyclonedds_unavailable)
	TEST_F (MiddlewareFactoryFixture, create_subscriber_zenoh_unavailable)
	TEST_F (MiddlewareFactoryFixture, default_is_fastdds)
	TEST_F (MiddlewareFactoryFixture, factory_available_string)
	TEST_F (MiddlewareFactoryFixture, resolve_available_middleware)
	TEST_F (MiddlewareFactoryFixture, resolve_unavailable_cyclonedds)
	TEST_F (MiddlewareFactoryFixture, resolve_unavailable_zenoh)
	TEST_F (MiddlewareFactoryFixture, set_and_get_cyclonedds)
	TEST_F (MiddlewareFactoryFixture, set_and_get_middleware)
	TEST_F (MiddlewareFactoryFixture, set_and_get_zenoh)
	TEST_F (RosDomainIdEnvFixture, command_line_overrides_environment)
	TEST_F (RosDomainIdEnvFixture, default_when_environment_unset)
	TEST_F (RosDomainIdEnvFixture, environment_applies_when_command_line_unset)
	TEST_F (ZenohDomainIdFixture, command_line_overrides_environment)
	TEST_F (ZenohDomainIdFixture, command_line_value_is_used)
	TEST_F (ZenohDomainIdFixture, default_is_zero)
	TEST_F (ZenohDomainIdFixture, environment_used_when_command_line_unset)
	TEST_F (ZenohDomainIdFixture, invalid_environment_falls_back_to_default)

Macro Definition Documentation

CARLA_ROS2_MIDDLEWARE_FASTDDS

#define CARLA_ROS2_MIDDLEWARE_FASTDDS

Definition at line 9 of file test_ros2_middleware.cpp.

CARLA_ROS2_MIDDLEWARE_TESTING

#define CARLA_ROS2_MIDDLEWARE_TESTING

Definition at line 8 of file test_ros2_middleware.cpp.

Function Documentation

TEST() [1/95]

TEST	(	cdr_serialization	,
		carla_ego_vehicle_control_round_trip
	)

Definition at line 294 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::serialize_to_cdr(), and carla::ros2::msg::CarlaEgoVehicleControl::throttle.

TEST() [2/95]

TEST	(	cdr_serialization	,
		carla_line_invasion_round_trip
	)

Definition at line 318 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Header::frame_id, carla::ros2::msg::CarlaLineInvasion::header, and carla::ros2::serialize_to_cdr().

TEST() [3/95]

TEST	(	cdr_serialization	,
		cdr_serialized_size_image_exceeds_static_max
	)

Definition at line 561 of file test_ros2_middleware.cpp.

References carla::ros2::cdr_serialized_size(), carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Image::height, and carla::ros2::serialize_to_cdr().

TEST() [4/95]

TEST	(	cdr_serialization	,
		cdr_serialized_size_matches_serialize_to_cdr
	)

Definition at line 523 of file test_ros2_middleware.cpp.

References carla::ros2::cdr_serialized_size(), carla::ros2::msg::Image::height, carla::ros2::msg::PointCloud2::height, carla::ros2::msg::Time::sec, carla::ros2::serialize_to_cdr(), carla::ros2::msg::Header::stamp, and carla::ros2::msg::TFMessage::transforms.

TEST() [5/95]

TEST	(	cdr_serialization	,
		cdr_serialized_size_pointcloud2_exceeds_static_max
	)

Definition at line 589 of file test_ros2_middleware.cpp.

References carla::ros2::cdr_serialized_size(), carla::ros2::deserialize_from_cdr(), carla::ros2::msg::PointCloud2::height, carla::ros2::msg::PointField::name, and carla::ros2::serialize_to_cdr().

TEST() [6/95]

TEST	(	cdr_serialization	,
		clock_round_trip
	)

Definition at line 335 of file test_ros2_middleware.cpp.

References carla::ros2::msg::Clock::clock, carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Time::sec, and carla::ros2::serialize_to_cdr().

TEST() [7/95]

TEST	(	cdr_serialization	,
		deserialize_corrupt_encapsulation_returns_false
	)

Definition at line 462 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr().

TEST() [8/95]

TEST	(	cdr_serialization	,
		deserialize_pointcloud2_hostile_length_returns_false
	)

Definition at line 470 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr().

TEST() [9/95]

TEST	(	cdr_serialization	,
		deserialize_tfmessage_hostile_length_returns_false
	)

Definition at line 505 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr().

TEST() [10/95]

TEST	(	cdr_serialization	,
		deserialize_truncated_returns_false
	)

Definition at line 447 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Time::sec, carla::ros2::serialize_to_cdr(), and carla::ros2::msg::Header::stamp.

TEST() [11/95]

TEST	(	cdr_serialization	,
		empty_tfmessage_round_trip
	)

Definition at line 349 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), and carla::ros2::serialize_to_cdr().

TEST() [12/95]

TEST	(	cdr_serialization	,
		header_round_trip
	)

Definition at line 118 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Time::sec, carla::ros2::serialize_to_cdr(), and carla::ros2::msg::Header::stamp.

TEST() [13/95]

TEST	(	cdr_serialization	,
		image_round_trip
	)

Definition at line 178 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Header::frame_id, carla::ros2::msg::Image::header, and carla::ros2::serialize_to_cdr().

TEST() [14/95]

TEST	(	cdr_serialization	,
		imu_round_trip
	)

Definition at line 150 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Imu::header, carla::ros2::msg::Time::sec, carla::ros2::serialize_to_cdr(), and carla::ros2::msg::Header::stamp.

TEST() [15/95]

TEST	(	cdr_serialization	,
		navsat_fix_round_trip
	)

Definition at line 264 of file test_ros2_middleware.cpp.

References carla::ros2::msg::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN, carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Header::frame_id, carla::ros2::msg::NavSatFix::header, carla::ros2::serialize_to_cdr(), carla::ros2::msg::NavSatStatus::SERVICE_GPS, and carla::ros2::msg::NavSatStatus::STATUS_FIX.

TEST() [16/95]

TEST	(	cdr_serialization	,
		pointcloud2_multi_field_round_trip
	)

Definition at line 360 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::PointField::FLOAT32, carla::ros2::msg::Header::frame_id, carla::ros2::msg::PointCloud2::header, carla::ros2::msg::PointField::name, and carla::ros2::serialize_to_cdr().

TEST() [17/95]

TEST	(	cdr_serialization	,
		pointcloud2_round_trip
	)

Definition at line 202 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::PointField::FLOAT32, carla::ros2::msg::Header::frame_id, carla::ros2::msg::PointCloud2::header, carla::ros2::msg::PointField::name, and carla::ros2::serialize_to_cdr().

TEST() [18/95]

TEST	(	cdr_serialization	,
		tfmessage_multi_transform_round_trip
	)

Definition at line 413 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::TransformStamped::header, carla::ros2::msg::Time::sec, carla::ros2::serialize_to_cdr(), and carla::ros2::msg::Header::stamp.

TEST() [19/95]

TEST	(	cdr_serialization	,
		tfmessage_round_trip
	)

Definition at line 237 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::TransformStamped::header, carla::ros2::msg::Time::sec, carla::ros2::serialize_to_cdr(), and carla::ros2::msg::Header::stamp.

TEST() [20/95]

TEST	(	cdr_serialization	,
		time_golden_xcdrv1_bytes
	)

Definition at line 97 of file test_ros2_middleware.cpp.

References carla::ros2::msg::Time::sec, and carla::ros2::serialize_to_cdr().

TEST() [21/95]

TEST	(	cdr_serialization	,
		time_round_trip
	)

Definition at line 72 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Time::sec, and carla::ros2::serialize_to_cdr().

TEST() [22/95]

TEST	(	cdr_serialization	,
		vector3_round_trip
	)

Definition at line 134 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::serialize_to_cdr(), and carla::ros2::msg::Vector3::x.

TEST() [23/95]

TEST	(	cdr_topic_info	,
		max_sizes_are_positive
	)

Definition at line 55 of file test_ros2_middleware.cpp.

TEST() [24/95]

TEST	(	cdr_topic_info	,
		type_names_are_non_empty
	)

Definition at line 37 of file test_ros2_middleware.cpp.

TEST() [25/95]

TEST	(	cyclonedds_fragment_gather	,
		large_pointcloud_round_trips_through_fragments
	)

Definition at line 1662 of file test_ros2_middleware.cpp.

References carla::ros2::deserialize_from_cdr(), carla::ros2::msg::Header::frame_id, carla::ros2::msg::PointCloud2::header, and carla::ros2::serialize_to_cdr().

TEST() [26/95]

TEST	(	cyclonedds_fragment_gather	,
		multi_fragment_reassembles_in_order
	)

Definition at line 1606 of file test_ros2_middleware.cpp.

TEST() [27/95]

TEST	(	cyclonedds_fragment_gather	,
		overlapping_fragments_gather_once
	)

Definition at line 1619 of file test_ros2_middleware.cpp.

TEST() [28/95]

TEST	(	cyclonedds_fragment_gather	,
		oversized_fragment_is_clamped_to_size
	)

Definition at line 1649 of file test_ros2_middleware.cpp.

TEST() [29/95]

TEST	(	cyclonedds_fragment_gather	,
		single_fragment_copies_all
	)

Definition at line 1593 of file test_ros2_middleware.cpp.

TEST() [30/95]

TEST	(	cyclonedds_fragment_gather	,
		truncated_chain_reports_short_count
	)

Definition at line 1635 of file test_ros2_middleware.cpp.

TEST() [31/95]

TEST	(	domain_id_parsing	,
		above_max_is_rejected
	)

Definition at line 1355 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [32/95]

TEST	(	domain_id_parsing	,
		empty_string_is_rejected
	)

Definition at line 1340 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [33/95]

TEST	(	domain_id_parsing	,
		max_value_is_accepted
	)

Definition at line 1377 of file test_ros2_middleware.cpp.

References carla::ros2::kMaxDomainId, and carla::ros2::TryParseDomainId().

TEST() [34/95]

TEST	(	domain_id_parsing	,
		mid_value_is_accepted
	)

Definition at line 1371 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [35/95]

TEST	(	domain_id_parsing	,
		negative_is_rejected
	)

Definition at line 1360 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [36/95]

TEST	(	domain_id_parsing	,
		non_numeric_is_rejected
	)

Definition at line 1345 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [37/95]

TEST	(	domain_id_parsing	,
		nullptr_is_rejected
	)

Definition at line 1335 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [38/95]

TEST	(	domain_id_parsing	,
		trailing_garbage_is_rejected
	)

Definition at line 1350 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [39/95]

TEST	(	domain_id_parsing	,
		zero_is_accepted
	)

Definition at line 1365 of file test_ros2_middleware.cpp.

References carla::ros2::TryParseDomainId().

TEST() [40/95]

TEST	(	domain_id_resolution	,
		command_line_wins_over_environment
	)

Definition at line 1383 of file test_ros2_middleware.cpp.

References carla::ros2::ResolveDomainId().

TEST() [41/95]

TEST	(	domain_id_resolution	,
		command_line_zero_wins_over_environment
	)

Definition at line 1389 of file test_ros2_middleware.cpp.

References carla::ros2::ResolveDomainId().

TEST() [42/95]

TEST	(	domain_id_resolution	,
		default_when_both_absent
	)

Definition at line 1401 of file test_ros2_middleware.cpp.

References carla::ros2::kDefaultDomainId, carla::ros2::kUnsetDomainId, and carla::ros2::ResolveDomainId().

TEST() [43/95]

TEST	(	domain_id_resolution	,
		default_when_environment_empty
	)

Definition at line 1407 of file test_ros2_middleware.cpp.

References carla::ros2::kDefaultDomainId, carla::ros2::kUnsetDomainId, and carla::ros2::ResolveDomainId().

TEST() [44/95]

TEST	(	domain_id_resolution	,
		environment_used_when_command_line_unset
	)

Definition at line 1395 of file test_ros2_middleware.cpp.

References carla::ros2::kUnsetDomainId, and carla::ros2::ResolveDomainId().

TEST() [45/95]

TEST	(	domain_id_resolution	,
		invalid_command_line_falls_through_to_environment
	)

Definition at line 1419 of file test_ros2_middleware.cpp.

References carla::ros2::ResolveDomainId().

TEST() [46/95]

TEST	(	domain_id_resolution	,
		invalid_environment_falls_back_to_default
	)

Definition at line 1413 of file test_ros2_middleware.cpp.

References carla::ros2::kDefaultDomainId, carla::ros2::kUnsetDomainId, and carla::ros2::ResolveDomainId().

TEST() [47/95]

TEST	(	generic_cdr_pubsubtype	,
		create_and_delete_data
	)

Definition at line 913 of file test_ros2_middleware.cpp.

References carla::ros2::msg::Clock::clock, carla::ros2::GenericCdrPubSubType< MsgType >::createData(), carla::ros2::GenericCdrPubSubType< MsgType >::deleteData(), carla::ros2::msg::Time::nanosec, and carla::ros2::msg::Time::sec.

TEST() [48/95]

TEST	(	generic_cdr_pubsubtype	,
		getkey_returns_false
	)

Definition at line 928 of file test_ros2_middleware.cpp.

References carla::ros2::GenericCdrPubSubType< MsgType >::getKey().

TEST() [49/95]

TEST	(	generic_cdr_pubsubtype	,
		m_typesize_is_positive
	)

Definition at line 863 of file test_ros2_middleware.cpp.

TEST() [50/95]

TEST	(	generic_cdr_pubsubtype	,
		serialize_deserialize_fixed_size_via_payload
	)

Definition at line 874 of file test_ros2_middleware.cpp.

References carla::ros2::msg::Clock::clock, carla::ros2::GenericCdrPubSubType< MsgType >::deserialize(), carla::ros2::msg::Time::sec, and carla::ros2::GenericCdrPubSubType< MsgType >::serialize().

TEST() [51/95]

TEST	(	generic_cdr_pubsubtype	,
		serialize_deserialize_string_type_via_payload
	)

Definition at line 894 of file test_ros2_middleware.cpp.

References carla::ros2::GenericCdrPubSubType< MsgType >::deserialize(), carla::ros2::msg::Time::sec, carla::ros2::GenericCdrPubSubType< MsgType >::serialize(), and carla::ros2::msg::Header::stamp.

TEST() [52/95]

TEST	(	generic_cdr_pubsubtype	,
		type_name_matches_cdr_topic_info
	)

Definition at line 843 of file test_ros2_middleware.cpp.

TEST() [53/95]

TEST	(	generic_cdr_pubsubtype_large_payload	,
		image_large_payload_serialize_succeeds
	)

Definition at line 944 of file test_ros2_middleware.cpp.

References carla::ros2::GenericCdrPubSubType< MsgType >::deserialize(), carla::ros2::GenericCdrPubSubType< MsgType >::getSerializedSizeProvider(), carla::ros2::msg::Image::header, carla::ros2::msg::Time::sec, carla::ros2::GenericCdrPubSubType< MsgType >::serialize(), and carla::ros2::msg::Header::stamp.

TEST() [54/95]

TEST	(	generic_cdr_pubsubtype_large_payload	,
		pointcloud2_large_payload_serialize_succeeds
	)

Definition at line 989 of file test_ros2_middleware.cpp.

References carla::ros2::GenericCdrPubSubType< MsgType >::deserialize(), carla::ros2::msg::PointField::FLOAT32, carla::ros2::msg::Header::frame_id, carla::ros2::GenericCdrPubSubType< MsgType >::getSerializedSizeProvider(), carla::ros2::msg::PointCloud2::header, carla::ros2::msg::PointField::name, and carla::ros2::GenericCdrPubSubType< MsgType >::serialize().

TEST() [55/95]

TEST	(	generic_cdr_pubsubtype_large_payload	,
		size_provider_returns_actual_size_not_max
	)

Definition at line 1036 of file test_ros2_middleware.cpp.

References carla::ros2::msg::Image::data, and carla::ros2::GenericCdrPubSubType< MsgType >::getSerializedSizeProvider().

TEST() [56/95]

TEST	(	middleware_available	,
		available_string_contains_fastdds
	)

Definition at line 719 of file test_ros2_middleware.cpp.

References carla::ros2::GetAvailableMiddlewareString().

TEST() [57/95]

TEST	(	middleware_available	,
		cyclonedds_not_available_without_macro
	)

Definition at line 724 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::IsMiddlewareAvailable().

TEST() [58/95]

TEST	(	middleware_available	,
		fastdds_available
	)

Definition at line 714 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::IsMiddlewareAvailable().

TEST() [59/95]

TEST	(	middleware_available	,
		zenoh_not_available_without_macro
	)

Definition at line 729 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::IsMiddlewareAvailable().

TEST() [60/95]

TEST	(	middleware_config_valid	,
		above_max_is_invalid
	)

Definition at line 1321 of file test_ros2_middleware.cpp.

References carla::ros2::IsValidDomainId(), and carla::ros2::kMaxDomainId.

TEST() [61/95]

TEST	(	middleware_config_valid	,
		max_is_valid
	)

Definition at line 1317 of file test_ros2_middleware.cpp.

References carla::ros2::IsValidDomainId(), and carla::ros2::kMaxDomainId.

TEST() [62/95]

TEST	(	middleware_config_valid	,
		one_is_valid
	)

Definition at line 1313 of file test_ros2_middleware.cpp.

References carla::ros2::IsValidDomainId().

TEST() [63/95]

TEST	(	middleware_config_valid	,
		unset_sentinel_is_invalid
	)

Definition at line 1325 of file test_ros2_middleware.cpp.

References carla::ros2::IsValidDomainId(), and carla::ros2::kUnsetDomainId.

TEST() [64/95]

TEST	(	middleware_config_valid	,
		zero_is_valid
	)

Definition at line 1309 of file test_ros2_middleware.cpp.

References carla::ros2::IsValidDomainId().

TEST() [65/95]

TEST	(	middleware_from_string	,
		cyclonedds_lowercase_valid
	)

Definition at line 683 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFromString().

TEST() [66/95]

TEST	(	middleware_from_string	,
		empty_string_invalid
	)

Definition at line 695 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFromString().

TEST() [67/95]

TEST	(	middleware_from_string	,
		fastdds_lowercase_valid
	)

Definition at line 672 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFromString().

TEST() [68/95]

TEST	(	middleware_from_string	,
		partial_match_rejected
	)

Definition at line 705 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFromString().

TEST() [69/95]

TEST	(	middleware_from_string	,
		unknown_string_invalid
	)

Definition at line 678 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFromString().

TEST() [70/95]

TEST	(	middleware_from_string	,
		uppercase_rejected
	)

Definition at line 700 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFromString().

TEST() [71/95]

TEST	(	middleware_from_string	,
		zenoh_lowercase_valid
	)

Definition at line 689 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFromString().

TEST() [72/95]

TEST	(	middleware_to_string	,
		cyclonedds_returns_correct_string
	)

Definition at line 660 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareToString().

TEST() [73/95]

TEST	(	middleware_to_string	,
		fastdds_returns_correct_string
	)

Definition at line 656 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareToString().

TEST() [74/95]

TEST	(	middleware_to_string	,
		zenoh_returns_correct_string
	)

Definition at line 664 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareToString().

TEST() [75/95]

TEST	(	middleware_type_name	,
		bare_name
	)

Definition at line 738 of file test_ros2_middleware.cpp.

References carla::ros2::ToROS2TypeName().

TEST() [76/95]

TEST	(	middleware_type_name	,
		empty_string
	)

Definition at line 752 of file test_ros2_middleware.cpp.

References carla::ros2::ToROS2TypeName().

TEST() [77/95]

TEST	(	middleware_type_name	,
		fully_qualified
	)

Definition at line 742 of file test_ros2_middleware.cpp.

References carla::ros2::ToROS2TypeName().

TEST() [78/95]

TEST	(	middleware_type_name	,
		single_namespace
	)

Definition at line 748 of file test_ros2_middleware.cpp.

References carla::ros2::ToROS2TypeName().

TEST() [79/95]

TEST	(	publisher_impl	,
		data_flows_through_publish
	)

Definition at line 1184 of file test_ros2_middleware.cpp.

References carla::ros2::PublisherImpl< Traits >::GetMessage(), carla::ros2::PublisherImpl< Traits >::Init(), and carla::ros2::PublisherImpl< Traits >::Publish().

TEST() [80/95]

TEST	(	publisher_impl	,
		get_message_returns_pointer
	)

Definition at line 1127 of file test_ros2_middleware.cpp.

References carla::ros2::PublisherImpl< Traits >::GetMessage().

TEST() [81/95]

TEST	(	publisher_impl	,
		init_delegates_to_middleware
	)

Definition at line 1135 of file test_ros2_middleware.cpp.

References carla::ros2::PublisherImpl< Traits >::Init().

TEST() [82/95]

TEST	(	publisher_impl	,
		is_alive_delegates
	)

Definition at line 1163 of file test_ros2_middleware.cpp.

References carla::ros2::PublisherImpl< Traits >::Init(), and carla::ros2::PublisherImpl< Traits >::IsAlive().

TEST() [83/95]

TEST	(	publisher_impl	,
		publish_before_init_fails
	)

Definition at line 1156 of file test_ros2_middleware.cpp.

References carla::ros2::PublisherImpl< Traits >::Publish().

TEST() [84/95]

TEST	(	publisher_impl	,
		publish_delegates_to_middleware
	)

Definition at line 1145 of file test_ros2_middleware.cpp.

References carla::ros2::PublisherImpl< Traits >::GetMessage(), carla::ros2::PublisherImpl< Traits >::Init(), and carla::ros2::PublisherImpl< Traits >::Publish().

TEST() [85/95]

TEST	(	publisher_impl	,
		topic_name_delegates
	)

Definition at line 1175 of file test_ros2_middleware.cpp.

References carla::ros2::PublisherImpl< Traits >::GetTopicName(), and carla::ros2::PublisherImpl< Traits >::Init().

TEST() [86/95]

TEST	(	subscriber_impl	,
		get_message_clears_flag
	)

Definition at line 1220 of file test_ros2_middleware.cpp.

References carla::ros2::SubscriberImpl< Traits >::GetMessage(), carla::ros2::SubscriberImpl< Traits >::HasNewMessage(), and carla::ros2::SubscriberImpl< Traits >::Init().

TEST() [87/95]

TEST	(	subscriber_impl	,
		has_new_message_initially_false
	)

Definition at line 1203 of file test_ros2_middleware.cpp.

References carla::ros2::SubscriberImpl< Traits >::HasNewMessage().

TEST() [88/95]

TEST	(	subscriber_impl	,
		init_delegates_to_middleware
	)

Definition at line 1208 of file test_ros2_middleware.cpp.

References carla::ros2::SubscriberImpl< Traits >::Init().

TEST() [89/95]

TEST	(	subscriber_impl	,
		init_failure_propagated
	)

Definition at line 1273 of file test_ros2_middleware.cpp.

References carla::ros2::SubscriberImpl< Traits >::Init().

TEST() [90/95]

TEST	(	subscriber_impl	,
		is_alive_delegates
	)

Definition at line 1237 of file test_ros2_middleware.cpp.

References carla::ros2::SubscriberImpl< Traits >::Init(), and carla::ros2::SubscriberImpl< Traits >::IsAlive().

TEST() [91/95]

TEST	(	subscriber_impl	,
		simulate_message_receipt
	)

Definition at line 1258 of file test_ros2_middleware.cpp.

References carla::ros2::SubscriberImpl< Traits >::GetMessage(), carla::ros2::SubscriberImpl< Traits >::HasNewMessage(), and carla::ros2::SubscriberImpl< Traits >::Init().

TEST() [92/95]

TEST	(	subscriber_impl	,
		topic_name_delegates
	)

Definition at line 1249 of file test_ros2_middleware.cpp.

References carla::ros2::SubscriberImpl< Traits >::GetTopicName(), and carla::ros2::SubscriberImpl< Traits >::Init().

TEST() [93/95]

TEST	(	zenoh_wire_format	,
		node_liveliness_keyexpr_starts_with_domain_segment
	)

Definition at line 1439 of file test_ros2_middleware.cpp.

TEST() [94/95]

TEST	(	zenoh_wire_format	,
		topic_keyexpr_starts_with_domain_segment
	)

Definition at line 1432 of file test_ros2_middleware.cpp.

TEST() [95/95]

TEST	(	zenoh_wire_format	,
		topic_liveliness_keyexpr_has_domain_and_mangled_topic
	)

Definition at line 1444 of file test_ros2_middleware.cpp.

TEST_F() [1/23]

TEST_F	(	MiddlewareConfigFixture	,
		default_domain_id_is_unset
	)

Definition at line 1295 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareConfig::GetDomainId(), and carla::ros2::kUnsetDomainId.

TEST_F() [2/23]

TEST_F	(	MiddlewareConfigFixture	,
		set_and_get_round_trip
	)

Definition at line 1299 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareConfig::GetDomainId(), and carla::ros2::MiddlewareConfig::SetDomainId().

TEST_F() [3/23]

TEST_F	(	MiddlewareConfigFixture	,
		set_zero_is_stored
	)

Definition at line 1304 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareConfig::GetDomainId(), and carla::ros2::MiddlewareConfig::SetDomainId().

TEST_F() [4/23]

TEST_F	(	MiddlewareFactoryFixture	,
		create_publisher_cyclonedds_unavailable
	)

Definition at line 793 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::SetMiddleware().

TEST_F() [5/23]

TEST_F	(	MiddlewareFactoryFixture	,
		create_publisher_zenoh_unavailable
	)

Definition at line 821 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::SetMiddleware().

TEST_F() [6/23]

TEST_F	(	MiddlewareFactoryFixture	,
		create_subscriber_cyclonedds_unavailable
	)

Definition at line 801 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::SetMiddleware().

TEST_F() [7/23]

TEST_F	(	MiddlewareFactoryFixture	,
		create_subscriber_zenoh_unavailable
	)

Definition at line 829 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::SetMiddleware().

TEST_F() [8/23]

TEST_F	(	MiddlewareFactoryFixture	,
		default_is_fastdds
	)

Definition at line 765 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::GetMiddleware().

TEST_F() [9/23]

TEST_F	(	MiddlewareFactoryFixture	,
		factory_available_string
	)

Definition at line 776 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::GetAvailableMiddlewareString().

TEST_F() [10/23]

TEST_F	(	MiddlewareFactoryFixture	,
		resolve_available_middleware
	)

Definition at line 769 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::ResolveMiddleware().

TEST_F() [11/23]

TEST_F	(	MiddlewareFactoryFixture	,
		resolve_unavailable_cyclonedds
	)

Definition at line 786 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::ResolveMiddleware().

TEST_F() [12/23]

TEST_F	(	MiddlewareFactoryFixture	,
		resolve_unavailable_zenoh
	)

Definition at line 814 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::ResolveMiddleware().

TEST_F() [13/23]

TEST_F	(	MiddlewareFactoryFixture	,
		set_and_get_cyclonedds
	)

Definition at line 781 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::GetMiddleware(), and carla::ros2::MiddlewareFactory::SetMiddleware().

TEST_F() [14/23]

TEST_F	(	MiddlewareFactoryFixture	,
		set_and_get_middleware
	)

Definition at line 760 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::GetMiddleware(), and carla::ros2::MiddlewareFactory::SetMiddleware().

TEST_F() [15/23]

TEST_F	(	MiddlewareFactoryFixture	,
		set_and_get_zenoh
	)

Definition at line 809 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareFactory::GetMiddleware(), and carla::ros2::MiddlewareFactory::SetMiddleware().

TEST_F() [16/23]

TEST_F	(	RosDomainIdEnvFixture	,
		command_line_overrides_environment
	)

Definition at line 1491 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareConfig::GetEffectiveDomainId(), carla::ros2::kRosDomainIdEnvVar, and carla::ros2::MiddlewareConfig::SetDomainId().

TEST_F() [17/23]

TEST_F	(	RosDomainIdEnvFixture	,
		default_when_environment_unset
	)

Definition at line 1497 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareConfig::GetEffectiveDomainId(), carla::ros2::kDefaultDomainId, and carla::ros2::kRosDomainIdEnvVar.

TEST_F() [18/23]

TEST_F	(	RosDomainIdEnvFixture	,
		environment_applies_when_command_line_unset
	)

Definition at line 1486 of file test_ros2_middleware.cpp.

References carla::ros2::MiddlewareConfig::GetEffectiveDomainId(), and carla::ros2::kRosDomainIdEnvVar.

TEST_F() [19/23]

TEST_F	(	ZenohDomainIdFixture	,
		command_line_overrides_environment
	)

Definition at line 1524 of file test_ros2_middleware.cpp.

References carla::ros2::kRosDomainIdEnvVar, and carla::ros2::MiddlewareConfig::SetDomainId().

TEST_F() [20/23]

TEST_F	(	ZenohDomainIdFixture	,
		command_line_value_is_used
	)

Definition at line 1513 of file test_ros2_middleware.cpp.

References carla::ros2::kRosDomainIdEnvVar, and carla::ros2::MiddlewareConfig::SetDomainId().

TEST_F() [21/23]

TEST_F	(	ZenohDomainIdFixture	,
		default_is_zero
	)

Definition at line 1530 of file test_ros2_middleware.cpp.

References carla::ros2::kRosDomainIdEnvVar.

TEST_F() [22/23]

TEST_F	(	ZenohDomainIdFixture	,
		environment_used_when_command_line_unset
	)

Definition at line 1519 of file test_ros2_middleware.cpp.

References carla::ros2::kRosDomainIdEnvVar.

TEST_F() [23/23]

TEST_F	(	ZenohDomainIdFixture	,
		invalid_environment_falls_back_to_default
	)

Definition at line 1535 of file test_ros2_middleware.cpp.

References carla::ros2::kRosDomainIdEnvVar.