Add tests for lexical casts

Author: jordan-palacios

hardware_interface/CMakeLists.txt

@@ -90,6 +90,10 @@ if(BUILD_TESTING)
   ament_add_gmock(test_helpers test/test_helpers.cpp)
   target_link_libraries(test_helpers hardware_interface)
 
+  # Test lexical casts methods
+  ament_add_gtest(test_lexical_casts test/test_lexical_casts.cpp)
+  target_link_libraries(test_lexical_casts hardware_interface)
+
   ament_add_gmock(test_component_interfaces test/test_component_interfaces.cpp)
   target_link_libraries(test_component_interfaces hardware_interface ros2_control_test_assets::ros2_control_test_assets)
 

hardware_interface/test/test_lexical_casts.cpp

@@ -0,0 +1,68 @@
+// Copyright 2025 PAL Robotics S.L.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <stdexcept>
+
+#include "gtest/gtest.h"
+
+#include "hardware_interface/lexical_casts.hpp"
+
+TEST(TestLexicalCasts, test_stod)
+{
+  using hardware_interface::stod;
+
+  ASSERT_THROW(stod(""), std::invalid_argument);
+  ASSERT_THROW(stod("abc"), std::invalid_argument);
+  ASSERT_THROW(stod("1.2.3"), std::invalid_argument);
+  ASSERT_EQ(stod("1.2"), 1.2);
+  ASSERT_EQ(stod("-1.2"), -1.2);
+  ASSERT_EQ(stod("1.0"), 1.0);
+}
+
+TEST(TestLexicalCasts, test_parse_bool)
+{
+  using hardware_interface::parse_bool;
+
+  ASSERT_TRUE(parse_bool("true"));
+  ASSERT_TRUE(parse_bool("True"));
+
+  // Any other value should return false
+  ASSERT_FALSE(parse_bool("false"));
+  ASSERT_FALSE(parse_bool("False"));
+  ASSERT_FALSE(parse_bool(""));
+  ASSERT_FALSE(parse_bool("abc"));
+  ASSERT_FALSE(parse_bool("1"));
+}
+
+TEST(TestLexicalCasts, test_parse_string_array)
+{
+  using hardware_interface::parse_string_array;
+
+  ASSERT_THROW(parse_string_array(""), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("abc"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("[abc"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("abc]"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("[[abc, def], hij]"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("[ ]"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("[,]"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("[abc,]"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("[,abc]"), std::invalid_argument);
+  ASSERT_THROW(parse_string_array("[abc,,def]"), std::invalid_argument);
+
+  ASSERT_EQ(parse_string_array("[]"), std::vector<std::string>());
+  ASSERT_EQ(parse_string_array("[abc]"), std::vector<std::string>({"abc"}));
+  ASSERT_EQ(parse_string_array("[abc,def]"), std::vector<std::string>({"abc", "def"}));
+  ASSERT_EQ(parse_string_array("[abc, def]"), std::vector<std::string>({"abc", "def"}));
+  ASSERT_EQ(parse_string_array("[ abc, def ]"), std::vector<std::string>({"abc", "def"}));
+}