From 34f6c7aae9d4359661c76b933b3fbb26dbe69f37 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <olivier.stasse@laas.fr>
Date: Wed, 29 Nov 2023 02:16:24 +0100
Subject: [PATCH] Prepare test_sot_loader to run scripts in embedded python.
Prepare reception of ROS-2 topic from the SoT.
---
tests/CMakeLists.txt | 12 ++++++---
tests/test_sot_loader.cpp | 53 ++++++++++++++++++++++++++++++++++++---
2 files changed, 58 insertions(+), 7 deletions(-)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 2a7b4dd..c4e0d47 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -66,6 +66,9 @@ if(BUILD_TESTING)
test_sot_loader
PUBLIC include "${GMOCK_INCLUDE_DIRS}"
PRIVATE ${PROJECT_SOURCE_DIR}/include)
+ target_compile_definitions(
+ test_sot_loader
+ PUBLIC TEST_CONFIG_PATH="${CMAKE_CURRENT_LIST_DIR}/python_scripts/")
target_link_libraries(test_sot_loader sot_loader "${GMOCK_LIBRARIES}")
add_launch_test(launch/launching_test_sot_loader.py)
@@ -89,6 +92,11 @@ if(BUILD_TESTING)
# Create the cmake target using ament and gtest.
ament_add_gtest(test_${test_name} main.cpp test_${test_name}.cpp)
+ # add some preprocessor variable
+ target_compile_definitions(
+ test_${test_name}
+ PUBLIC TEST_CONFIG_PATH="${CMAKE_CURRENT_LIST_DIR}/python_scripts/")
+
# Include dependencies.
target_include_directories(
test_${test_name}
@@ -107,10 +115,6 @@ if(BUILD_TESTING)
ament_target_dependencies(${current_test_name} dynamic_graph_bridge_msgs
rclcpp rcl_interfaces std_srvs)
- # add some preprocessor variable
- target_compile_definitions(
- test_${test_name}
- PUBLIC TEST_CONFIG_PATH="${CMAKE_CURRENT_LIST_DIR}/python_scripts/")
endmacro(create_ros_bridge_unittest test_name)
# C++ unit-tests.
diff --git a/tests/test_sot_loader.cpp b/tests/test_sot_loader.cpp
index 59ca291..dcaff40 100644
--- a/tests/test_sot_loader.cpp
+++ b/tests/test_sot_loader.cpp
@@ -1,15 +1,39 @@
-
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wdeprecated-copy"
#include <gmock/gmock.h>
+#pragma clang diagnostic pop
#include "dynamic_graph_bridge/ros.hpp"
#include "dynamic_graph_bridge/sot_loader.hh"
+#include "dynamic_graph_bridge_msgs/msg/vector.hpp"
+#include "test_common.hpp"
+
+namespace test_sot_loader {
+int l_argc;
+char** l_argv;
+}
+
+namespace dg = dynamicgraph;
class MockSotLoaderTest : public ::testing::Test {
public:
class MockSotLoader : public SotLoader {
public:
+ rclcpp::Subscription<dynamic_graph_bridge_msgs::msg::Vector>::SharedPtr
+ subscription_;
+
~MockSotLoader() {}
+ void topic_callback(const dynamic_graph_bridge_msgs::msg::Vector::SharedPtr msg) const {
+ auto lsize=msg->data.size();
+ }
+
+ void subscribe_to_a_topic() {
+ subscription_ = create_subscription<dynamic_graph_bridge_msgs::msg::Vector>(
+ "control_ros", 1, std::bind(&MockSotLoader::topic_callback, this,
+ std::placeholders::_1));
+ }
+
void generateEvents() {
usleep(20000);
std::cerr << "Start Dynamic Graph " << std::endl;
@@ -33,6 +57,7 @@ class MockSotLoaderTest : public ::testing::Test {
std::string finalname("libimpl_test_library.so");
EXPECT_TRUE(finalname == dynamicLibraryName_);
+ readSotVectorStateParam();
// Performs initialization of libimpl_test_library.so
loadController();
EXPECT_TRUE(sotRobotControllerLibrary_ != 0);
@@ -54,6 +79,14 @@ class MockSotLoaderTest : public ::testing::Test {
// Start the thread generating events.
std::thread local_events(&MockSotLoader::generateEvents, this);
+ // Create and call the clients.
+ std::string file_name =
+ TEST_CONFIG_PATH + std::string("simple_ros_publish.py");
+ std::string result = "";
+ std::string standard_output = "";
+ std::string standard_error = "";
+ //start_run_python_script_ros_service(file_name, result);
+
// Wait for each threads.
SotLoader::lthread_join(); // Wait 100 ms
local_events.join();
@@ -63,6 +96,18 @@ class MockSotLoaderTest : public ::testing::Test {
public:
MockSotLoader *mockSotLoader_ptr_;
+ // For the set of tests coded in this file.
+ static void SetUpTestCase() {
+
+ rclcpp::init(test_sot_loader::l_argc,
+ test_sot_loader::l_argv);
+ }
+
+ // For each test specified in this file
+ static void TearDownTestCase() {
+ rclcpp::shutdown();
+ }
+
void SetUp() {
mockSotLoader_ptr_ = new MockSotLoader();
mockSotLoader_ptr_->initialize();
@@ -80,10 +125,12 @@ TEST_F(MockSotLoaderTest, TestLoadController) {
int main(int argc, char **argv) {
::testing::InitGoogleTest(&argc, argv);
- rclcpp::init(argc, argv);
+
+ test_sot_loader::l_argc = argc;
+ test_sot_loader::l_argv = argv;
+
int r = RUN_ALL_TESTS();
- rclcpp::shutdown();
return r;
}
--
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