-
Notifications
You must be signed in to change notification settings - Fork 6
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
- Loading branch information
Showing
6 changed files
with
242 additions
and
16 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,15 +1,20 @@ | ||
| # Build test_nao_lola_client | ||
| ament_add_gtest(test_nao_lola_client | ||
| test_nao_lola_client.cpp) | ||
|
|
||
| target_link_libraries(test_nao_lola_client | ||
| nao_lola_client_node) | ||
|
|
||
| # Build test_msgpack_parser | ||
| ament_add_gtest(test_msgpack_parser | ||
| test_msgpack_parser.cpp) | ||
| test_msgpack_parser.cpp) | ||
|
|
||
| target_link_libraries(test_msgpack_parser | ||
| msgpack_parser_lib | ||
| ) | ||
| msgpack_parser_lib) | ||
|
|
||
| # Build test_msgpack_packer | ||
| ament_add_gtest(test_msgpack_packer | ||
| test_msgpack_packer.cpp) | ||
| test_msgpack_packer.cpp) | ||
|
|
||
| target_link_libraries(test_msgpack_packer | ||
| msgpack_packer_lib | ||
| ) | ||
| msgpack_packer_lib) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,176 @@ | ||
| // Copyright 2021 Kenji Brameld | ||
| // | ||
| // 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 "gtest/gtest.h" | ||
| #include "nao_lola_client/nao_lola_client.hpp" | ||
|
|
||
| // class TestNaoLolaClient : public ::testing::Test | ||
| // { | ||
| // protected: | ||
| // static void SetUpTestCase() | ||
| // { | ||
| // rclcpp::init(0, nullptr); | ||
| // } | ||
|
|
||
| // static void TearDownTestCase() | ||
| // { | ||
| // rclcpp::shutdown(); | ||
| // } | ||
|
|
||
| // void test_parameter( | ||
| // const std::string & parameter_name, | ||
| // const rclcpp::ParameterValue & expected_value) | ||
| // { | ||
| // ASSERT_TRUE(node.has_parameter(parameter_name)); | ||
| // auto parameter = node.get_parameter(parameter_name); | ||
| // EXPECT_EQ(parameter.get_type(), expected_value.get_type()); | ||
| // EXPECT_EQ(parameter.get_parameter_value(), expected_value); | ||
| // } | ||
|
|
||
| // void test_publisher(const std::string & topic_name, const std::string & topic_type) | ||
| // { | ||
| // auto publishers_info = node.get_publishers_info_by_topic(topic_name); | ||
| // ASSERT_EQ(publishers_info.size(), 1); | ||
| // EXPECT_EQ(publishers_info[0].topic_type(), topic_type); | ||
| // } | ||
|
|
||
| // void test_subscription(const std::string & topic_name, const std::string & topic_type) | ||
| // { | ||
| // auto subscriptions_info = node.get_subscriptions_info_by_topic(topic_name); | ||
| // EXPECT_EQ(subscriptions_info.size(), 1); | ||
| // EXPECT_EQ(subscriptions_info[0].topic_type(), topic_type); | ||
| // } | ||
|
|
||
| // NaoLolaClient node; | ||
| // }; | ||
|
|
||
| // TEST_F(TestNaoLolaClient, TestParameters) | ||
| // { | ||
| // SCOPED_TRACE("TestParameters"); | ||
| // test_parameter("publish_joint_states", rclcpp::ParameterValue{true}); | ||
| // } | ||
|
|
||
| // TEST_F(TestNaoLolaClient, TestPublishers) | ||
| // { | ||
| // SCOPED_TRACE("TestPublishers"); | ||
| // test_publisher("sensors/accelerometer", "nao_lola_sensor_msgs/msg/Accelerometer"); | ||
| // test_publisher("sensors/angle", "nao_lola_sensor_msgs/msg/Angle"); | ||
| // test_publisher("sensors/buttons", "nao_lola_sensor_msgs/msg/Buttons"); | ||
| // test_publisher("sensors/fsr", "nao_lola_sensor_msgs/msg/FSR"); | ||
| // test_publisher("sensors/gyroscope", "nao_lola_sensor_msgs/msg/Gyroscope"); | ||
| // test_publisher("sensors/joint_positions", "nao_lola_sensor_msgs/msg/JointPositions"); | ||
| // test_publisher("sensors/joint_stiffnesses", "nao_lola_sensor_msgs/msg/JointStiffnesses"); | ||
| // test_publisher("sensors/joint_temperatures", "nao_lola_sensor_msgs/msg/JointTemperatures"); | ||
| // test_publisher("sensors/joint_currents", "nao_lola_sensor_msgs/msg/JointCurrents"); | ||
| // test_publisher("sensors/joint_statuses", "nao_lola_sensor_msgs/msg/JointStatuses"); | ||
| // test_publisher("sensors/sonar", "nao_lola_sensor_msgs/msg/Sonar"); | ||
| // test_publisher("sensors/touch", "nao_lola_sensor_msgs/msg/Touch"); | ||
| // test_publisher("sensors/battery", "nao_lola_sensor_msgs/msg/Battery"); | ||
| // test_publisher("sensors/robot_config", "nao_lola_sensor_msgs/msg/RobotConfig"); | ||
| // } | ||
|
|
||
| // TEST_F(TestNaoLolaClient, TestSubscriptions) | ||
| // { | ||
| // SCOPED_TRACE("TestSubscriptions"); | ||
| // test_subscription("effectors/joint_positions", "nao_lola_command_msgs/msg/JointPositions"); | ||
| // test_subscription("effectors/joint_stiffnesses", "nao_lola_command_msgs/msg/JointStiffnesses"); | ||
| // test_subscription("effectors/chest_led", "nao_lola_command_msgs/msg/ChestLed"); | ||
| // test_subscription("effectors/left_ear_leds", "nao_lola_command_msgs/msg/LeftEarLeds"); | ||
| // test_subscription("effectors/right_ear_leds", "nao_lola_command_msgs/msg/RightEarLeds"); | ||
| // test_subscription("effectors/left_eye_leds", "nao_lola_command_msgs/msg/LeftEyeLeds"); | ||
| // test_subscription("effectors/right_eye_leds", "nao_lola_command_msgs/msg/RightEyeLeds"); | ||
| // test_subscription("effectors/left_foot_led", "nao_lola_command_msgs/msg/LeftFootLed"); | ||
| // test_subscription("effectors/right_foot_led", "nao_lola_command_msgs/msg/RightFootLed"); | ||
| // test_subscription("effectors/head_leds", "nao_lola_command_msgs/msg/HeadLeds"); | ||
| // test_subscription("effectors/sonar_usage", "nao_lola_command_msgs/msg/SonaUsage"); | ||
| // } | ||
|
|
||
| // TEST(TestNaoLolaClient, TestJointStatePublisherDisabled) | ||
| // { | ||
| // rclcpp::init(0, nullptr); | ||
| // auto node = NaoLolaClient( | ||
| // rclcpp::NodeOptions().parameter_overrides({{"publish_joint_states", false}})); | ||
| // EXPECT_TRUE(node.get_publishers_info_by_topic("joint_states").empty()); | ||
| // rclcpp::shutdown(); | ||
| // } | ||
|
|
||
|
|
||
| struct Topic | ||
| { | ||
| Topic(const std::string & topic_name, const std::string & topic_type) | ||
| : topic_name(topic_name), topic_type(topic_type) {} | ||
| std::string topic_name; | ||
| std::string topic_type; | ||
| }; | ||
|
|
||
| // Test Publishers | ||
| class TestPublisher : public ::testing::TestWithParam<Topic> {}; | ||
| TEST_P(TestPublisher, ) { | ||
| auto p = GetParam(); | ||
| rclcpp::init(0, nullptr); | ||
| NaoLolaClient node; | ||
| auto publishers_info = node.get_publishers_info_by_topic(p.topic_name); | ||
| ASSERT_EQ(publishers_info.size(), 1); | ||
| EXPECT_EQ(publishers_info[0].topic_type(), p.topic_type); | ||
| rclcpp::shutdown(); | ||
| } | ||
|
|
||
| INSTANTIATE_TEST_SUITE_P( | ||
| , | ||
| TestPublisher, | ||
| ::testing::Values( | ||
| Topic{"sensors/accelerometer", "nao_lola_sensor_msgs/msg/Accelerometer"}, | ||
| Topic{"sensors/angle", "nao_lola_sensor_msgs/msg/Angle"}, | ||
| Topic{"sensors/buttons", "nao_lola_sensor_msgs/msg/Buttons"}, | ||
| Topic{"sensors/fsr", "nao_lola_sensor_msgs/msg/FSR"}, | ||
| Topic{"sensors/gyroscope", "nao_lola_sensor_msgs/msg/Gyroscope"}, | ||
| Topic{"sensors/joint_positions", "nao_lola_sensor_msgs/msg/JointPositions"}, | ||
| Topic{"sensors/joint_stiffnesses", "nao_lola_sensor_msgs/msg/JointStiffnesses"}, | ||
| Topic{"sensors/joint_temperatures", "nao_lola_sensor_msgs/msg/JointTemperatures"}, | ||
| Topic{"sensors/joint_currents", "nao_lola_sensor_msgs/msg/JointCurrents"}, | ||
| Topic{"sensors/joint_statuses", "nao_lola_sensor_msgs/msg/JointStatuses"}, | ||
| Topic{"sensors/sonar", "nao_lola_sensor_msgs/msg/Sonar"}, | ||
| Topic{"sensors/touch", "nao_lola_sensor_msgs/msg/Touch"}, | ||
| Topic{"sensors/battery", "nao_lola_sensor_msgs/msg/Battery"}, | ||
| Topic{"sensors/robot_config", "nao_lola_sensor_msgs/msg/RobotConfig"}) | ||
| ); | ||
|
|
||
| // Test subscriptions | ||
| class TestSubscriptions : public ::testing::TestWithParam<Topic> {}; | ||
| TEST_P(TestSubscriptions, ) { | ||
| auto p = GetParam(); | ||
| rclcpp::init(0, nullptr); | ||
| NaoLolaClient node; | ||
| auto subscriptions_info = node.get_subscriptions_info_by_topic(p.topic_name); | ||
| ASSERT_EQ(subscriptions_info.size(), 1); | ||
| EXPECT_EQ(subscriptions_info[0].topic_type(), p.topic_type); | ||
| rclcpp::shutdown(); | ||
| } | ||
|
|
||
| INSTANTIATE_TEST_SUITE_P( | ||
| , | ||
| TestSubscriptions, | ||
| ::testing::Values( | ||
| Topic{"effectors/joint_positions", "nao_lola_command_msgs/msg/JointPositions"}, | ||
| Topic{"effectors/joint_stiffnesses", "nao_lola_command_msgs/msg/JointStiffnesses"}, | ||
| Topic{"effectors/chest_led", "nao_lola_command_msgs/msg/ChestLed"}, | ||
| Topic{"effectors/left_ear_leds", "nao_lola_command_msgs/msg/LeftEarLeds"}, | ||
| Topic{"effectors/right_ear_leds", "nao_lola_command_msgs/msg/RightEarLeds"}, | ||
| Topic{"effectors/left_eye_leds", "nao_lola_command_msgs/msg/LeftEyeLeds"}, | ||
| Topic{"effectors/right_eye_leds", "nao_lola_command_msgs/msg/RightEyeLeds"}, | ||
| Topic{"effectors/left_foot_led", "nao_lola_command_msgs/msg/LeftFootLed"}, | ||
| Topic{"effectors/right_foot_led", "nao_lola_command_msgs/msg/RightFootLed"}, | ||
| Topic{"effectors/head_leds", "nao_lola_command_msgs/msg/HeadLeds"}, | ||
| Topic{"effectors/sonar_usage", "nao_lola_command_msgs/msg/SonarUsage"}) | ||
| ); |