From 2d54fe3e620660eb1595707d3b65af9b3a9fcb1b Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Fri, 8 Jun 2018 16:08:08 +0200
Subject: [PATCH] add test for set parameters atomically

---
 test_rclcpp/test/parameter_fixtures.hpp     | 20 ++++++++++++++++++++
 test_rclcpp/test/test_remote_parameters.cpp | 16 ++++++++++++++++
 2 files changed, 36 insertions(+)

diff --git a/test_rclcpp/test/parameter_fixtures.hpp b/test_rclcpp/test/parameter_fixtures.hpp
index 8fa14c2b..23493ef3 100644
--- a/test_rclcpp/test/parameter_fixtures.hpp
+++ b/test_rclcpp/test/parameter_fixtures.hpp
@@ -50,6 +50,26 @@ void set_test_parameters(
   }
 }
 
+void set_test_parameters_atomically(
+  std::shared_ptr<rclcpp::SyncParametersClient> parameters_client)
+{
+  printf("Setting parameters atomically\n");
+  // Set several differnet types of parameters.
+  auto set_parameters_result = parameters_client->set_parameters_atomically({
+    rclcpp::Parameter("foo", 2),
+    rclcpp::Parameter("bar", "hello"),
+    rclcpp::Parameter("barstr", std::string("hello_str")),
+    rclcpp::Parameter("baz", 1.45),
+    rclcpp::Parameter("foo.first", 8),
+    rclcpp::Parameter("foo.second", 42),
+    rclcpp::Parameter("foobar", true),
+  });
+  printf("Got set_parameters_atomically result\n");
+
+  // Check to see if they were set.
+  ASSERT_TRUE(set_parameters_result.successful);
+}
+
 void verify_set_parameters_async(
   std::shared_ptr<rclcpp::Node> node,
   std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client)
diff --git a/test_rclcpp/test/test_remote_parameters.cpp b/test_rclcpp/test/test_remote_parameters.cpp
index e03d2228..f02fab20 100644
--- a/test_rclcpp/test/test_remote_parameters.cpp
+++ b/test_rclcpp/test/test_remote_parameters.cpp
@@ -67,6 +67,22 @@ TEST(CLASSNAME(parameters, rmw_implementation), test_remote_parameters_sync) {
   verify_test_parameters(parameters_client);
 }
 
+TEST(CLASSNAME(parameters, rmw_implementation), test_set_remote_parameters_atomically_sync) {
+  std::string test_server_name = "test_parameters_server";
+
+  auto node = rclcpp::Node::make_shared(std::string("test_set_remote_parameters_atomically_sync"));
+
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node,
+      test_server_name);
+  if (!parameters_client->wait_for_service(20s)) {
+    ASSERT_TRUE(false) << "service not available after waiting";
+  }
+
+  set_test_parameters_atomically(parameters_client);
+
+  verify_test_parameters(parameters_client);
+}
+
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);