Skip to content

Implement get_node_type_descriptions_interface for lifecyclenode and add test #2237

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
clalancette merged 1 commit into from
Jul 11, 2023
Merged

Implement get_node_type_descriptions_interface for lifecyclenode and add test #2237

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions rclcpp/test/rclcpp/test_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,7 @@ TEST_F(TestNode, construction_and_destruction) {
EXPECT_NE(nullptr, node->get_node_options().get_rcl_node_options());
EXPECT_NE(nullptr, node->get_graph_event());
EXPECT_NE(nullptr, node->get_clock());
EXPECT_NE(nullptr, node->get_node_type_descriptions_interface());
}

{
Expand Down
4 changes: 4 additions & 0 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -824,6 +824,10 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
get_node_time_source_interface();

/// Return the Node's internal NodeTypeDescriptionsInterface implementation.
/**
* \sa rclcpp::Node::get_node_type_descriptions_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
get_node_type_descriptions_interface();
Expand Down
6 changes: 6 additions & 0 deletions rclcpp_lifecycle/src/lifecycle_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -475,6 +475,12 @@ LifecycleNode::get_node_topics_interface()
return node_topics_;
}

rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
LifecycleNode::get_node_type_descriptions_interface()
{
return node_type_descriptions_;
}

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
LifecycleNode::get_node_services_interface()
{
Expand Down
1 change: 1 addition & 0 deletions rclcpp_lifecycle/test/test_lifecycle_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -641,6 +641,7 @@ TEST_F(TestDefaultStateMachine, test_getters) {
EXPECT_LT(0u, test_node->now().nanoseconds());
EXPECT_STREQ("testnode", test_node->get_logger().get_name());
EXPECT_NE(nullptr, const_cast<const EmptyLifecycleNode *>(test_node.get())->get_clock());
EXPECT_NE(nullptr, test_node->get_node_type_descriptions_interface());
}

TEST_F(TestDefaultStateMachine, test_graph_topics) {
Expand Down