Implement ALL_RCLCPP_NODE_INTERFACES

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>
ros2 · Dec 29, 2022 · fa69bf1 · fa69bf1
1 parent cf31bb8
commit fa69bf1
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Showing 4 changed files with 86 additions and 1 deletion.
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp b/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp
@@ -20,11 +20,25 @@
 #include "rclcpp/detail/template_unique.hpp"
 #include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 
+#define ALL_RCLCPP_NODE_INTERFACES \
+  rclcpp::node_interfaces::NodeBaseInterface, \
+  rclcpp::node_interfaces::NodeClockInterface, \
+  rclcpp::node_interfaces::NodeGraphInterface, \
+  rclcpp::node_interfaces::NodeLoggingInterface, \
+  rclcpp::node_interfaces::NodeParametersInterface, \
+  rclcpp::node_interfaces::NodeServicesInterface, \
+  rclcpp::node_interfaces::NodeTimeSourceInterface, \
+  rclcpp::node_interfaces::NodeTimersInterface, \
+  rclcpp::node_interfaces::NodeTopicsInterface, \
+  rclcpp::node_interfaces::NodeWaitablesInterface
+
+
 namespace rclcpp
 {
 namespace node_interfaces
 {
 
+
 /// A helper class for aggregating node interfaces.
 template<typename ... InterfaceTs>
 class NodeInterfaces
@@ -144,6 +158,7 @@ class NodeInterfaces
   {}
 };
 
+
 }  // namespace node_interfaces
 }  // namespace rclcpp
 

diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -267,7 +267,7 @@ ament_add_gtest(test_node_interfaces__node_waitables
 if(TARGET test_node_interfaces__node_waitables)
   target_link_libraries(test_node_interfaces__node_waitables ${PROJECT_NAME} mimick)
 endif()
-add_library(test_node_interfaces__test_template_utils  # Compile time test
+ament_add_gtest(test_node_interfaces__test_template_utils  # Compile time test
   node_interfaces/detail/test_template_utils.cpp)
 if(TARGET test_node_interfaces__test_template_utils)
   target_link_libraries(test_node_interfaces__test_template_utils ${PROJECT_NAME})

diff --git a/rclcpp/test/rclcpp/node_interfaces/detail/test_template_utils.cpp b/rclcpp/test/rclcpp/node_interfaces/detail/test_template_utils.cpp
@@ -12,9 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <gtest/gtest.h>
+
 #include "rclcpp/detail/template_contains.hpp"
 #include "rclcpp/detail/template_unique.hpp"
 
+
+TEST(NoOpTests, test_node_interfaces_template_utils) {
+}                                                        // This is just to let gtest work
+
 namespace rclcpp
 {
 namespace detail

diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp
@@ -179,3 +179,67 @@ TEST_F(TestNodeInterfaces, ni_init) {
     time_source = ni.get_node_time_source_interface();
   }
 }
+
+/*
+   Testing macro'ed getters.
+ */
+TEST_F(TestNodeInterfaces, ni_all_init) {
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+
+  using rclcpp::node_interfaces::NodeInterfaces;
+  using rclcpp::node_interfaces::NodeBaseInterface;
+  using rclcpp::node_interfaces::NodeClockInterface;
+  using rclcpp::node_interfaces::NodeGraphInterface;
+  using rclcpp::node_interfaces::NodeLoggingInterface;
+  using rclcpp::node_interfaces::NodeTimersInterface;
+  using rclcpp::node_interfaces::NodeTopicsInterface;
+  using rclcpp::node_interfaces::NodeServicesInterface;
+  using rclcpp::node_interfaces::NodeWaitablesInterface;
+  using rclcpp::node_interfaces::NodeParametersInterface;
+  using rclcpp::node_interfaces::NodeTimeSourceInterface;
+
+  auto ni = rclcpp::node_interfaces::NodeInterfaces<ALL_RCLCPP_NODE_INTERFACES>(node);
+
+  {
+    auto base = ni.get<NodeBaseInterface>();
+    base = ni.get_node_base_interface();
+    EXPECT_STREQ(base->get_name(), "my_node");  // Test for functionality
+  }
+  {
+    auto clock = ni.get<NodeClockInterface>();
+    clock = ni.get_node_clock_interface();
+    clock->get_clock();
+  }
+  {
+    auto graph = ni.get<NodeGraphInterface>();
+    graph = ni.get_node_graph_interface();
+  }
+  {
+    auto logging = ni.get<NodeLoggingInterface>();
+    logging = ni.get_node_logging_interface();
+  }
+  {
+    auto timers = ni.get<NodeTimersInterface>();
+    timers = ni.get_node_timers_interface();
+  }
+  {
+    auto topics = ni.get<NodeTopicsInterface>();
+    topics = ni.get_node_topics_interface();
+  }
+  {
+    auto services = ni.get<NodeServicesInterface>();
+    services = ni.get_node_services_interface();
+  }
+  {
+    auto waitables = ni.get<NodeWaitablesInterface>();
+    waitables = ni.get_node_waitables_interface();
+  }
+  {
+    auto parameters = ni.get<NodeParametersInterface>();
+    parameters = ni.get_node_parameters_interface();
+  }
+  {
+    auto time_source = ni.get<NodeTimeSourceInterface>();
+    time_source = ni.get_node_time_source_interface();
+  }
+}