Add: test for GenericPublisher/Subscriber

Signed-off-by: h-suzuki <[email protected]>

test_tracetools/CMakeLists.txt

@@ -87,6 +87,22 @@ if(BUILD_TESTING)
     ${std_msgs_TARGETS}
   )
 
+  add_executable(test_generic_ping
+    src/test_generic_ping.cpp
+  )
+  target_link_libraries(test_generic_ping PRIVATE
+    rclcpp::rclcpp
+    ${std_msgs_TARGETS}
+  )
+
+  add_executable(test_generic_pong
+    src/test_generic_pong.cpp
+  )
+  target_link_libraries(test_generic_pong PRIVATE
+    rclcpp::rclcpp
+    ${std_msgs_TARGETS}
+  )
+
   add_executable(test_timer
     src/test_timer.cpp
   )
@@ -116,6 +132,8 @@ if(BUILD_TESTING)
     test_lifecycle_client
     test_ping
     test_pong
+    test_generic_ping
+    test_generic_pong
     test_publisher
     test_service_ping
     test_service_pong

test_tracetools/src/test_generic_ping.cpp

@@ -0,0 +1,101 @@
+// Copyright 2019 Robert Bosch GmbH
+//
+// 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 <memory>
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+#define NODE_NAME "test_generic_ping"
+#define SUB_TOPIC_NAME "pong"
+#define PUB_TOPIC_NAME "ping"
+#define QUEUE_DEPTH 10
+
+class PingNode : public rclcpp::Node
+{
+public:
+  PingNode(rclcpp::NodeOptions options, bool do_only_one)
+  : Node(NODE_NAME, options), do_only_one_(do_only_one)
+  {
+    sub_ = this->create_generic_subscription(
+      SUB_TOPIC_NAME,
+      "std_msgs/msg/String",
+      rclcpp::QoS(QUEUE_DEPTH),
+      std::bind(&PingNode::callback, this, std::placeholders::_1));
+    pub_ = this->create_generic_publisher(
+      PUB_TOPIC_NAME,
+      "std_msgs/msg/String",
+      rclcpp::QoS(QUEUE_DEPTH));
+    timer_ = this->create_wall_timer(
+      500ms,
+      std::bind(&PingNode::timer_callback, this));
+    serializer_ = std::make_shared<rclcpp::Serialization<std_msgs::msg::String>>();
+  }
+
+  explicit PingNode(rclcpp::NodeOptions options)
+  : PingNode(options, true) {}
+
+private:
+  void callback(std::shared_ptr<rclcpp::SerializedMessage> serialized_msg)
+  {
+    std_msgs::msg::String deserialized_msg;
+    serializer_->deserialize_message(serialized_msg.get(), &deserialized_msg);
+    RCLCPP_INFO(this->get_logger(), "[output] %s", deserialized_msg.data.c_str());
+    if (do_only_one_) {
+      rclcpp::shutdown();
+    }
+  }
+
+  void timer_callback()
+  {
+    std_msgs::msg::String msg;
+    msg.data = "some random ping string";
+    rclcpp::SerializedMessage serialized_msg;
+    serialized_msg.reserve(1024);
+    serializer_->serialize_message(&msg, &serialized_msg);
+    pub_->publish(serialized_msg);
+  }
+
+  rclcpp::GenericSubscription::SharedPtr sub_;
+  rclcpp::GenericPublisher::SharedPtr pub_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::shared_ptr<rclcpp::Serialization<std_msgs::msg::String>> serializer_;
+  bool do_only_one_;
+};
+
+int main(int argc, char * argv[])
+{
+  bool do_only_one = true;
+  for (int i = 0; i < argc; ++i) {
+    if (strncmp(argv[i], "do_more", 7) == 0) {
+      do_only_one = false;
+    }
+  }
+
+  rclcpp::init(argc, argv);
+
+  rclcpp::executors::SingleThreadedExecutor exec;
+  auto ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions(), do_only_one);
+  exec.add_node(ping_node);
+
+  printf("spinning\n");
+  exec.spin();
+
+  // Will actually be called inside the node's callback
+  rclcpp::shutdown();
+  return 0;
+}

test_tracetools/src/test_generic_pong.cpp

@@ -0,0 +1,89 @@
+// Copyright 2019 Robert Bosch GmbH
+//
+// 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 <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+#define NODE_NAME "test_generic_pong"
+#define SUB_TOPIC_NAME "ping"
+#define PUB_TOPIC_NAME "pong"
+
+class PongNode : public rclcpp::Node
+{
+public:
+  PongNode(rclcpp::NodeOptions options, bool do_only_one)
+  : Node(NODE_NAME, options), do_only_one_(do_only_one)
+  {
+    sub_ = this->create_generic_subscription(
+      SUB_TOPIC_NAME,
+      "std_msgs/msg/String",
+      rclcpp::QoS(10),
+      std::bind(&PongNode::callback, this, std::placeholders::_1));
+    pub_ = this->create_generic_publisher(
+      PUB_TOPIC_NAME,
+      "std_msgs/msg/String",
+      rclcpp::QoS(10));
+    serializer_ = std::make_shared<rclcpp::Serialization<std_msgs::msg::String>>();
+  }
+
+  explicit PongNode(rclcpp::NodeOptions options)
+  : PongNode(options, true) {}
+
+private:
+  void callback(std::shared_ptr<rclcpp::SerializedMessage> msg)
+  {
+    std_msgs::msg::String deserialized_msg;
+    serializer_->deserialize_message(msg.get(), &deserialized_msg);
+    RCLCPP_INFO(this->get_logger(), "[output] %s", deserialized_msg.data.c_str());
+    std_msgs::msg::String next_msg;
+    next_msg.data = "some random pong string";
+    rclcpp::SerializedMessage serialized_msg;
+    serialized_msg.reserve(1024);
+    serializer_->serialize_message(&next_msg, &serialized_msg);
+    pub_->publish(serialized_msg);
+    if (do_only_one_) {
+      rclcpp::shutdown();
+    }
+  }
+
+  rclcpp::GenericSubscription::SharedPtr sub_;
+  rclcpp::GenericPublisher::SharedPtr pub_;
+  std::shared_ptr<rclcpp::Serialization<std_msgs::msg::String>> serializer_;
+  bool do_only_one_;
+};
+
+int main(int argc, char * argv[])
+{
+  bool do_only_one = true;
+  for (int i = 0; i < argc; ++i) {
+    if (strncmp(argv[i], "do_more", 7) == 0) {
+      do_only_one = false;
+    }
+  }
+
+  rclcpp::init(argc, argv);
+
+  rclcpp::executors::SingleThreadedExecutor exec;
+  auto pong_node = std::make_shared<PongNode>(rclcpp::NodeOptions(), do_only_one);
+  exec.add_node(pong_node);
+
+  printf("spinning\n");
+  exec.spin();
+
+  // Will actually be called inside the node's callback
+  rclcpp::shutdown();
+  return 0;
+}