Test solved

Signed-off-by: Juancams <[email protected]>
Juancams · Oct 4, 2024 · 7990dd1 · 7990dd1
1 parent 00d40ec
commit 7990dd1
Showing 1 changed file with 45 additions and 6 deletions.
diff --git a/coresense_instrumentation_driver/test/test_coresense_instrumentation_driver.cpp b/coresense_instrumentation_driver/test/test_coresense_instrumentation_driver.cpp
@@ -222,6 +222,10 @@ TEST_F(IntegrationTest, CreateStringPublisher)
   auto response =
     std::make_shared<coresense_instrumentation_interfaces::srv::CreatePublisher::Response>();
   request->topic_name = "/new_test_topic";
+  request->qos_history = "KEEP_LAST";
+  request->qos_queue = 10;
+  request->qos_reliability = "RELIABLE";
+  request->qos_durability = "VOLATILE";
 
   client->async_send_request(
     request,
@@ -236,7 +240,7 @@ TEST_F(IntegrationTest, CreateStringPublisher)
     executor.spin_once(std::chrono::milliseconds(100));
   }
 
-  ASSERT_EQ(response->success, false);
+  ASSERT_EQ(response->success, true);
 }
 
 TEST_F(IntegrationTest, DeleteStringPublisher)
@@ -282,7 +286,7 @@ TEST_F(IntegrationTest, DeleteStringPublisher)
     executor.spin_once(std::chrono::milliseconds(100));
   }
 
-  ASSERT_EQ(response_create->success, false);
+  ASSERT_EQ(response_create->success, true);
 
   auto request_delete =
     std::make_shared<coresense_instrumentation_interfaces::srv::DeletePublisher::Request>();
@@ -309,7 +313,7 @@ TEST_F(IntegrationTest, DeleteStringPublisher)
     executor.spin_once(std::chrono::milliseconds(100));
   }
 
-  ASSERT_EQ(response_delete->success, false);
+  ASSERT_EQ(response_delete->success, true);
 }
 
 TEST_F(IntegrationTest, CreateTwistSubscription)
@@ -355,7 +359,7 @@ TEST_F(IntegrationTest, CreateTwistSubscription)
     executor.spin_once(std::chrono::milliseconds(100));
   }
 
-  ASSERT_EQ(response->success, false);
+  ASSERT_EQ(response->success, true);
 }
 
 TEST_F(IntegrationTest, DeleteTwistSubscription)
@@ -401,7 +405,7 @@ TEST_F(IntegrationTest, DeleteTwistSubscription)
     executor.spin_once(std::chrono::milliseconds(100));
   }
 
-  ASSERT_EQ(response_create->success, false);
+  ASSERT_EQ(response_create->success, true);
 
   auto request_delete =
     std::make_shared<coresense_instrumentation_interfaces::srv::DeleteSubscriber::Request>();
@@ -428,7 +432,42 @@ TEST_F(IntegrationTest, DeleteTwistSubscription)
     executor.spin_once(std::chrono::milliseconds(100));
   }
 
-  ASSERT_EQ(response_delete->success, false);
+  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)