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@Juancams
Juancams committed Apr 2, 2024
1 parent 20c51cf commit 18995c8
Showing 1 changed file with 321 additions and 1 deletion.
322 changes: 321 additions & 1 deletion coresense_instrumentation_driver/test/test_coresense_instrumentation_driver.cpp
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Expand Up @@ -3,8 +3,13 @@
#include <rclcpp_components/register_node_macro.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <std_msgs/msg/string.hpp>
#include "coresense_instrumentation_driver/InstrumentationProducer.hpp"
#include "coresense_instrumentation_driver/InstrumentationConsumer.hpp"
#include "coresense_instrumentation_interfaces/srv/create_publisher.hpp"
#include "coresense_instrumentation_interfaces/srv/delete_publisher.hpp"
#include "coresense_instrumentation_interfaces/msg/node_info.hpp"

class IntegrationTest : public ::testing::Test
{
Expand Down Expand Up @@ -104,12 +109,54 @@ TEST_F(IntegrationTest, StringNodeLifecycle)
executor.spin_once(std::chrono::seconds(1));
}

TEST_F(IntegrationTest, TwistNodeLifecycle)
{
rclcpp::executors::SingleThreadedExecutor executor;

auto node =
std::make_shared<coresense_instrumentation_driver::InstrumentationConsumer<geometry_msgs::msg::Twist>>(
rclcpp::NodeOptions().append_parameter_override(
"topic",
"/test_topic").append_parameter_override(
"topic_type", "geometry_msgs::msg::Twist"));

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, ImageNodeLifecycle)
{
rclcpp::executors::SingleThreadedExecutor executor;

auto node =
std::make_shared<coresense_instrumentation_driver::InstrumentationProducer<std_msgs::msg::String>>(
std::make_shared<coresense_instrumentation_driver::InstrumentationProducer<sensor_msgs::msg::Image>>(
rclcpp::NodeOptions().append_parameter_override(
"topic",
"/test_topic").append_parameter_override(
Expand Down Expand Up @@ -146,6 +193,279 @@ TEST_F(IntegrationTest, ImageNodeLifecycle)
executor.spin_once(std::chrono::seconds(1));
}

TEST_F(IntegrationTest, CreateStringPublisher)
{
rclcpp::executors::SingleThreadedExecutor executor;

auto node =
std::make_shared<coresense_instrumentation_driver::InstrumentationProducer<std_msgs::msg::String>>(
rclcpp::NodeOptions().append_parameter_override(
"topic",
"/test_topic").append_parameter_override(
"topic_type", "std_msgs::msg::String"));

auto node_client = rclcpp::Node::make_shared("node_client");

executor.add_node(node->get_node_base_interface());
executor.add_node(node_client->get_node_base_interface());

node->on_configure(rclcpp_lifecycle::State());
node->on_activate(rclcpp_lifecycle::State());

auto client =
node_client->create_client<coresense_instrumentation_interfaces::srv::CreatePublisher>(
"/lifecycle_node/create_publisher");
client->wait_for_service();

auto request =
std::make_shared<coresense_instrumentation_interfaces::srv::CreatePublisher::Request>();
auto response =
std::make_shared<coresense_instrumentation_interfaces::srv::CreatePublisher::Response>();
request->topic_name = "/new_test_topic";

client->async_send_request(
request,
[&response](rclcpp::Client<coresense_instrumentation_interfaces::srv::CreatePublisher>::
SharedFuture future) {
if (future.get()) {
response = future.get();
}
});

for (int i = 0; i < 10; i++) {
executor.spin_once(std::chrono::milliseconds(100));
}

ASSERT_EQ(response->success, true);
}

TEST_F(IntegrationTest, DeleteStringPublisher)
{
rclcpp::executors::SingleThreadedExecutor executor;

auto node =
std::make_shared<coresense_instrumentation_driver::InstrumentationProducer<std_msgs::msg::String>>(
rclcpp::NodeOptions().append_parameter_override(
"topic",
"/test_topic").append_parameter_override(
"topic_type", "std_msgs::msg::String"));

auto node_client = rclcpp::Node::make_shared("node_client");

executor.add_node(node->get_node_base_interface());
executor.add_node(node_client->get_node_base_interface());

node->on_configure(rclcpp_lifecycle::State());
node->on_activate(rclcpp_lifecycle::State());

auto client_create =
node_client->create_client<coresense_instrumentation_interfaces::srv::CreatePublisher>(
"/lifecycle_node/create_publisher");
client_create->wait_for_service();

auto request_create =
std::make_shared<coresense_instrumentation_interfaces::srv::CreatePublisher::Request>();
auto response_create =
std::make_shared<coresense_instrumentation_interfaces::srv::CreatePublisher::Response>();
request_create->topic_name = "/new_test_topic";

client_create->async_send_request(
request_create,
[&response_create](rclcpp::Client<coresense_instrumentation_interfaces::srv::CreatePublisher>::
SharedFuture future) {
if (future.get()) {
response_create = future.get();
}
});

for (int i = 0; i < 10; i++) {
executor.spin_once(std::chrono::milliseconds(100));
}

ASSERT_EQ(response_create->success, true);

auto request_delete =
std::make_shared<coresense_instrumentation_interfaces::srv::DeletePublisher::Request>();
auto response_delete =
std::make_shared<coresense_instrumentation_interfaces::srv::DeletePublisher::Response>();

auto client_delete =
node_client->create_client<coresense_instrumentation_interfaces::srv::DeletePublisher>(
"/lifecycle_node/delete_publisher");
client_delete->wait_for_service();

request_delete->topic_name = "/coresense/new_test_topic";

client_delete->async_send_request(
request_delete,
[&response_delete](rclcpp::Client<coresense_instrumentation_interfaces::srv::DeletePublisher>::
SharedFuture future) {
if (future.get()) {
response_delete = future.get();
}
});

for (int i = 0; i < 10; i++) {
executor.spin_once(std::chrono::milliseconds(100));
}

ASSERT_EQ(response_delete->success, true);
}

TEST_F(IntegrationTest, CreateTwistSubscription)
{
rclcpp::executors::SingleThreadedExecutor executor;

auto node =
std::make_shared<coresense_instrumentation_driver::InstrumentationConsumer<geometry_msgs::msg::Twist>>(
rclcpp::NodeOptions().append_parameter_override(
"topic",
"/test_topic").append_parameter_override(
"topic_type", "geometry_msgs::msg::Twist"));

auto node_client = rclcpp::Node::make_shared("node_client");

executor.add_node(node->get_node_base_interface());
executor.add_node(node_client->get_node_base_interface());

node->on_configure(rclcpp_lifecycle::State());
node->on_activate(rclcpp_lifecycle::State());

auto client =
node_client->create_client<coresense_instrumentation_interfaces::srv::CreateSubscriber>(
"/lifecycle_node/create_subscriber");
client->wait_for_service();

auto request =
std::make_shared<coresense_instrumentation_interfaces::srv::CreateSubscriber::Request>();
auto response =
std::make_shared<coresense_instrumentation_interfaces::srv::CreateSubscriber::Response>();
request->topic_name = "/new_test_topic";

client->async_send_request(
request,
[&response](rclcpp::Client<coresense_instrumentation_interfaces::srv::CreateSubscriber>::
SharedFuture future) {
if (future.get()) {
response = future.get();
}
});

for (int i = 0; i < 10; i++) {
executor.spin_once(std::chrono::milliseconds(100));
}

ASSERT_EQ(response->success, true);
}

TEST_F(IntegrationTest, DeleteTwistSubscription)
{
rclcpp::executors::SingleThreadedExecutor executor;

auto node =
std::make_shared<coresense_instrumentation_driver::InstrumentationConsumer<geometry_msgs::msg::Twist>>(
rclcpp::NodeOptions().append_parameter_override(
"topic",
"/test_topic").append_parameter_override(
"topic_type", "geometry_msgs::msg::Twist"));

auto node_client = rclcpp::Node::make_shared("node_client");

executor.add_node(node->get_node_base_interface());
executor.add_node(node_client->get_node_base_interface());

node->on_configure(rclcpp_lifecycle::State());
node->on_activate(rclcpp_lifecycle::State());

auto client_create =
node_client->create_client<coresense_instrumentation_interfaces::srv::CreateSubscriber>(
"/lifecycle_node/create_subscriber");
client_create->wait_for_service();

auto request_create =
std::make_shared<coresense_instrumentation_interfaces::srv::CreateSubscriber::Request>();
auto response_create =
std::make_shared<coresense_instrumentation_interfaces::srv::CreateSubscriber::Response>();
request_create->topic_name = "/new_test_topic";

client_create->async_send_request(
request_create,
[&response_create](rclcpp::Client<coresense_instrumentation_interfaces::srv::CreateSubscriber>::
SharedFuture future) {
if (future.get()) {
response_create = future.get();
}
});

for (int i = 0; i < 10; i++) {
executor.spin_once(std::chrono::milliseconds(100));
}

ASSERT_EQ(response_create->success, true);

auto request_delete =
std::make_shared<coresense_instrumentation_interfaces::srv::DeleteSubscriber::Request>();
auto response_delete =
std::make_shared<coresense_instrumentation_interfaces::srv::DeleteSubscriber::Response>();

auto client_delete =
node_client->create_client<coresense_instrumentation_interfaces::srv::DeleteSubscriber>(
"/lifecycle_node/delete_subscriber");
client_delete->wait_for_service();

request_delete->topic_name = "/coresense/new_test_topic";

client_delete->async_send_request(
request_delete,
[&response_delete](rclcpp::Client<coresense_instrumentation_interfaces::srv::DeleteSubscriber>::
SharedFuture future) {
if (future.get()) {
response_delete = future.get();
}
});

for (int i = 0; i < 10; i++) {
executor.spin_once(std::chrono::milliseconds(100));
}

ASSERT_EQ(response_delete->success, true);
}

TEST_F(IntegrationTest, GetStatus)
{
rclcpp::executors::SingleThreadedExecutor executor;

auto node =
std::make_shared<coresense_instrumentation_driver::InstrumentationProducer<std_msgs::msg::String>>(
rclcpp::NodeOptions().append_parameter_override(
"topic",
"/test_topic").append_parameter_override(
"topic_type", "std_msgs::msg::String").
append_parameter_override("type", "Producer"));

auto node_sub = rclcpp::Node::make_shared("node_sub");

executor.add_node(node->get_node_base_interface());
executor.add_node(node_sub->get_node_base_interface());

auto node_info = std::make_shared<coresense_instrumentation_interfaces::msg::NodeInfo>();

auto sub = node_sub->create_subscription<coresense_instrumentation_interfaces::msg::NodeInfo>(
"/status", 10,
[&node_info](const coresense_instrumentation_interfaces::msg::NodeInfo::SharedPtr msg) {
node_info = std::move(msg);
});

for (int i = 0; i < 30; i++) {
executor.spin_once(std::chrono::milliseconds(100));
}

ASSERT_EQ(node_info->node_name, "lifecycle_node");
ASSERT_EQ(node_info->type, "Producer");
ASSERT_EQ(node_info->state, 1);
ASSERT_EQ(node_info->type_msg, "std_msgs::msg::String");
}

TEST_F(IntegrationTest, GetTopic)
{
auto node =
Expand Down

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