Added test

coresense_instrumentation_driver/CMakeLists.txt

@@ -63,7 +63,7 @@ if(BUILD_TESTING)
   set(ament_cmake_cpplint_FOUND TRUE)
   find_package(ament_cmake_gtest REQUIRED)
   ament_lint_auto_find_test_dependencies()
-  # add_subdirectory(test)
+  add_subdirectory(test)
 endif()
 
 ament_package()

coresense_instrumentation_driver/test/CMakeLists.txt

@@ -0,0 +1,3 @@
+ament_add_gtest(test_coresense_instrumentation_driver_gtest test_coresense_instrumentation_driver.cpp)
+ament_target_dependencies(test_coresense_instrumentation_driver_gtest ${dependencies})
+target_link_libraries(test_coresense_instrumentation_driver_gtest ${PROJECT_NAME})

coresense_instrumentation_driver/test/test_coresense_instrumentation_driver.cpp

@@ -0,0 +1,134 @@
+#include <gtest/gtest.h>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+#include <std_msgs/msg/string.hpp>
+#include "coresense_instrumentation_driver/InstrumentationLifecycleNode.hpp"
+
+class IntegrationTest : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown() override
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(IntegrationTest, LaserScanNodeLifecycle)
+{
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  auto node =
+    std::make_shared<coresense_instrumentation_driver::InstrumentationLifecycleNode<sensor_msgs::msg::LaserScan>>(
+    rclcpp::NodeOptions().append_parameter_override(
+      "topic",
+      "/test_topic").append_parameter_override(
+      "topic_type", "sensor_msgs::msg::LaserScan"));
+
+  executor.add_node(node->get_node_base_interface());
+
+  auto result = node->on_configure(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  result = node->on_activate(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  node->on_activate(rclcpp_lifecycle::State());
+  result = node->on_deactivate(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  result = node->on_cleanup(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  result = node->on_shutdown(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  executor.spin_once(std::chrono::seconds(1));
+}
+
+TEST_F(IntegrationTest, StringNodeLifecycle)
+{
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  auto node =
+    std::make_shared<coresense_instrumentation_driver::InstrumentationLifecycleNode<std_msgs::msg::String>>(
+    rclcpp::NodeOptions().append_parameter_override(
+      "topic",
+      "/test_topic").append_parameter_override(
+      "topic_type", "std_msgs::msg::String"));
+
+  executor.add_node(node->get_node_base_interface());
+
+  auto result = node->on_configure(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  result = node->on_activate(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  node->on_activate(rclcpp_lifecycle::State());
+  result = node->on_deactivate(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  result = node->on_cleanup(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  result = node->on_shutdown(rclcpp_lifecycle::State());
+  ASSERT_EQ(
+    result,
+    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS);
+
+  executor.spin_once(std::chrono::seconds(1));
+}
+
+TEST_F(IntegrationTest, GetTopic)
+{
+  auto node =
+    std::make_shared<coresense_instrumentation_driver::InstrumentationLifecycleNode<std_msgs::msg::String>>(
+    rclcpp::NodeOptions().append_parameter_override(
+      "topic",
+      "/test_topic").append_parameter_override(
+      "topic_type", "std_msgs::msg::String"));
+
+  ASSERT_EQ(node->get_topic(), "/test_topic");
+}
+
+TEST_F(IntegrationTest, GetTopicType)
+{
+  auto node =
+    std::make_shared<coresense_instrumentation_driver::InstrumentationLifecycleNode<std_msgs::msg::String>>(
+    rclcpp::NodeOptions().append_parameter_override(
+      "topic",
+      "/test_topic").append_parameter_override(
+      "topic_type", "std_msgs::msg::String"));
+
+  ASSERT_EQ(node->get_topic_type(), "std_msgs::msg::String");
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}