Adding unit tests

Signed-off-by: CursedRock17 <[email protected]>

rclcpp/CMakeLists.txt

@@ -96,6 +96,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_options.cpp
   src/rclcpp/parameter.cpp
   src/rclcpp/parameter_client.cpp
+  src/rclcpp/parameter_descriptor_wrapper.cpp
   src/rclcpp/parameter_event_handler.cpp
   src/rclcpp/parameter_events_filter.cpp
   src/rclcpp/parameter_map.cpp

rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp

@@ -25,6 +25,7 @@
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 
 #include "rclcpp/node.hpp"
+#include "rclcpp/parameter_value.hpp"
 #include "node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
 
@@ -43,33 +44,32 @@ class ParameterDescription
 
   // Builder Methods:
   // Describes the instances in a parameter_description object
-  ParameterDescription & SetName(const std::string & name);
-  ParameterDescription & SetType(std::uint8_t type);
-  ParameterDescription & SetDescriptionText(const std::string & description);
-  ParameterDescription & SetAdditionalConstraints(const std::string & constraints);
-  ParameterDescription & SetReadOnly(bool read_only);
-  ParameterDescription & SetDynamicTyping(bool dynamic_typing);
-  ParameterDescription & SetFloatingPointDescriptionRange(float min = 0.0f, float max = 1.0f,
-    float step = 0.0f);
-  ParameterDescription & SetIntegerDescriptionRange(int min = 0, int max = 1, int step = 0);
+  ParameterDescription & set_name(const std::string & name);
+  ParameterDescription & set_type(std::uint8_t type);
+  ParameterDescription & set_description_text(const std::string & description);
+  ParameterDescription & set_additional_constraints(const std::string & constraints);
+  ParameterDescription & set_read_only(bool read_only);
+  ParameterDescription & set_dynamic_typing(bool dynamic_typing);
+  ParameterDescription & set_floating_point_description_range(float min, float max, float step);
+  ParameterDescription & set_integer_description_range(int min, int max, int step);
 
   // Need the current node in order to begin the configuration state
   // for it via the declare_parameter function
-  template<typename ParameterType, typename NodeT>
-  ParameterDescription & DeclareParameter(
-    ParameterType default_value,
+  template<typename NodeT>
+  ParameterDescription & declare_parameter(
+    const rclcpp::ParameterValue & default_value,
     NodeT && node)
   {
     auto node_param = rclcpp::node_interfaces::get_node_parameters_interface(node);
-    node_param->declare_parameter<ParameterType>(
+    node_param->declare_parameter(
       parameter_descriptor.name, default_value,
       parameter_descriptor);
     return *this;
   }
 
 private:
   // The main descriptor object we're meant to initialize and adjust
-  rcl_interfaces::msg::ParameterDescriptor parameter_descriptor = {};
+  rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
 };
 
 }  // namespace rclcpp

rclcpp/src/rclcpp/parameter_descriptor_wrapper.cpp

@@ -20,7 +20,7 @@ namespace rclcpp
 ParameterDescription::ParameterDescription()
 {
   // Need to set this in the constructor, but it doesn't necessarily need to be used
-  parameter_descriptor.type{rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET};
+  parameter_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET;
 }
 
 rcl_interfaces::msg::ParameterDescriptor ParameterDescription::build() const
@@ -32,61 +32,65 @@ rcl_interfaces::msg::ParameterDescriptor ParameterDescription::build() const
 // Builder methods which set up the original class
 // They all follow the same format of initing the value given within the base class
 // then returning the current class
-ParameterDescription & ParameterDescription::SetName(const std::string & name)
+ParameterDescription & ParameterDescription::set_name(const std::string & name)
 {
   parameter_descriptor.name = name;
   return *this;
 }
 
-ParameterDescription & ParameterDescription::SetType(std::uint8_t type)
+ParameterDescription & ParameterDescription::set_type(std::uint8_t type)
 {
   parameter_descriptor.type = type;
   return *this;
 }
 
-ParameterDescription & ParameterDescription::SetDescriptionText(const std::string & description)
+ParameterDescription & ParameterDescription::set_description_text(const std::string & description)
 {
   parameter_descriptor.description = description;
   return *this;
 }
 
-ParameterDescription & ParameterDescription::SetAdditionalConstraints(
+ParameterDescription & ParameterDescription::set_additional_constraints(
   const std::string & constraints)
 {
-  parameter_descriptor.constraints = constraints;
+  parameter_descriptor.additional_constraints = constraints;
   return *this;
 }
 
-ParameterDescription & ParameterDescription::SetReadOnly(bool read_only)
+ParameterDescription & ParameterDescription::set_read_only(bool read_only)
 {
   parameter_descriptor.read_only = read_only;
   return *this;
 }
 
-ParameterDescription & ParameterDescription::SetDynamicTyping(bool dynamic_typing)
+ParameterDescription & ParameterDescription::set_dynamic_typing(bool dynamic_typing)
 {
   parameter_descriptor.dynamic_typing = dynamic_typing;
   return *this;
 }
 
 // Here is the Specific range function for this parameter description
-ParameterDescription & ParameterDescription::SetFloatingPointDescriptionRange(
-  float min, float max,
-  float step)
+ParameterDescription & ParameterDescription::set_floating_point_description_range(
+  float min, float max, float step)
 {
-  parameter_descriptor.floating_point_range.resize(1);
-  parameter_descriptor.floating_point_range.at(0).from_value = min;
-  parameter_descriptor.floating_point_range.at(0).to_value = max;
-  parameter_descriptor.floating_point_range.at(0).step = step;
+  if (parameter_descriptor.type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
+    parameter_descriptor.floating_point_range.resize(1);
+    parameter_descriptor.floating_point_range.at(0).from_value = min;
+    parameter_descriptor.floating_point_range.at(0).to_value = max;
+    parameter_descriptor.floating_point_range.at(0).step = step;
+  }
   return *this;
 }
 
-ParameterDescription & ParameterDescription::SetIntegerDescriptionRange(int min, int max, int step)
+ParameterDescription & ParameterDescription::set_integer_description_range(
+  int min, int max, int step)
 {
-  parameter_descriptor.integer_range.resize(1);
-  parameter_descriptor.integer_range.at(0).from_value = min;
-  parameter_descriptor.integer_range.at(0).to_value = max;
-  parameter_descriptor.integer_range.at(0).step = step;
+  if (parameter_descriptor.type == rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
+    parameter_descriptor.integer_range.resize(1);
+    parameter_descriptor.integer_range.at(0).from_value = min;
+    parameter_descriptor.integer_range.at(0).to_value = max;
+    parameter_descriptor.integer_range.at(0).step = step;
+  }
   return *this;
 }
 

rclcpp/test/rclcpp/test_parameter_service.cpp

@@ -20,6 +20,7 @@
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/parameter_descriptor_wrapper.hpp"
 #include "../../src/rclcpp/parameter_service_names.hpp"
 
 using namespace std::chrono_literals;
@@ -119,3 +120,32 @@ TEST_F(TestParameterService, describe_parameters) {
     EXPECT_EQ(0u, parameter_descs.size());
   }
 }
+
+TEST_F(TestParameterService, parameter_descriptor) {
+  {
+    rclcpp::ParameterDescription param_description;
+    rclcpp::ParameterValue param_value(1);
+
+    param_description.set_name("int_parameter");
+    param_description.set_type(2);
+    param_description.set_description_text("description");
+    param_description.set_additional_constraints("constraints");
+    param_description.set_read_only(false);
+    param_description.set_integer_description_range(0, 10, 1);
+
+    auto param = param_description.build();
+    param_description.declare_parameter(param_value, node);
+
+    EXPECT_EQ("int_parameter", param.name);
+    EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, param.type);
+    EXPECT_EQ("description", param.description);
+    EXPECT_EQ("constraints", param.additional_constraints);
+    EXPECT_EQ(0u, param.read_only);
+    EXPECT_EQ(0u, param.dynamic_typing);
+    EXPECT_EQ(0u, param.integer_range.at(0).from_value);
+    EXPECT_EQ(10, param.integer_range.at(0).to_value);
+    EXPECT_EQ(1, param.integer_range.at(0).step);
+
+    ASSERT_EQ(1, client->get_parameter("int_parameter", 0));
+  }
+}