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Fix NodeOptions assignment operator (backport #2656) #2660

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merged 1 commit into from
Nov 7, 2024
Merged

Fix NodeOptions assignment operator (backport #2656) #2660

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1 change: 1 addition & 0 deletions rclcpp/src/rclcpp/node_options.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ NodeOptions::operator=(const NodeOptions & other)
this->clock_type_ = other.clock_type_;
this->clock_qos_ = other.clock_qos_;
this->use_clock_thread_ = other.use_clock_thread_;
this->enable_logger_service_ = other.enable_logger_service_;
this->parameter_event_qos_ = other.parameter_event_qos_;
this->rosout_qos_ = other.rosout_qos_;
this->parameter_event_publisher_options_ = other.parameter_event_publisher_options_;
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51 changes: 51 additions & 0 deletions rclcpp/test/rclcpp/test_node_options.cpp
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Expand Up @@ -200,6 +200,57 @@ TEST(TestNodeOptions, copy) {
rcl_arguments_get_count_unparsed(&other_rcl_options->arguments),
rcl_arguments_get_count_unparsed(&rcl_options->arguments));
}

{
// The following scope test is missing:
// "arguments" because it is already tested in the above scopes
// "parameter_event_publisher_options" because it can not be directly compared with EXPECT_EQ
// "allocator" because it can not be directly compared with EXPECT_EQ

// We separate attribute modification from variable initialisation (copy assignment operator)
// to be sure the "non_default_options"'s properties are correctly set before testing the
// assignment operator.
auto non_default_options = rclcpp::NodeOptions();
non_default_options
.parameter_overrides({rclcpp::Parameter("foo", 0), rclcpp::Parameter("bar", "1")})
.use_global_arguments(false)
.enable_rosout(false)
.use_intra_process_comms(true)
.enable_topic_statistics(true)
.start_parameter_services(false)
.enable_logger_service(true)
.start_parameter_event_publisher(false)
.clock_type(RCL_SYSTEM_TIME)
.clock_qos(rclcpp::SensorDataQoS())
.use_clock_thread(false)
.parameter_event_qos(rclcpp::ClockQoS())
.rosout_qos(rclcpp::ParameterEventsQoS())
.allow_undeclared_parameters(true)
.automatically_declare_parameters_from_overrides(true);

auto copied_options = non_default_options;
EXPECT_EQ(non_default_options.parameter_overrides(), copied_options.parameter_overrides());
EXPECT_EQ(non_default_options.use_global_arguments(), copied_options.use_global_arguments());
EXPECT_EQ(non_default_options.enable_rosout(), copied_options.enable_rosout());
EXPECT_EQ(non_default_options.use_intra_process_comms(),
copied_options.use_intra_process_comms());
EXPECT_EQ(non_default_options.enable_topic_statistics(),
copied_options.enable_topic_statistics());
EXPECT_EQ(non_default_options.start_parameter_services(),
copied_options.start_parameter_services());
EXPECT_EQ(non_default_options.enable_logger_service(), copied_options.enable_logger_service());
EXPECT_EQ(non_default_options.start_parameter_event_publisher(),
copied_options.start_parameter_event_publisher());
EXPECT_EQ(non_default_options.clock_type(), copied_options.clock_type());
EXPECT_EQ(non_default_options.clock_qos(), copied_options.clock_qos());
EXPECT_EQ(non_default_options.use_clock_thread(), copied_options.use_clock_thread());
EXPECT_EQ(non_default_options.parameter_event_qos(), copied_options.parameter_event_qos());
EXPECT_EQ(non_default_options.rosout_qos(), copied_options.rosout_qos());
EXPECT_EQ(non_default_options.allow_undeclared_parameters(),
copied_options.allow_undeclared_parameters());
EXPECT_EQ(non_default_options.automatically_declare_parameters_from_overrides(),
copied_options.automatically_declare_parameters_from_overrides());
}
}

TEST(TestNodeOptions, append_parameter_override) {
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