rebase commom tools

Signed-off-by: jack.song <[email protected]>
autowarefoundation · Dec 17, 2024 · 2e899d7 · 2e899d7
1 parent a3f0297
commit 2e899d7
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Showing 3 changed files with 36 additions and 27 deletions.
diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt
@@ -8,22 +8,20 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/service_log_checker.cpp
 )
 
-if(BUILD_TESTING)
-  ament_add_ros_isolated_gtest(test_service_log_checker
-    test/test_service_log_checker.cpp
-  )
-
-  ament_target_dependencies(test_service_log_checker
-  tier4_system_msgs
-  yaml_cpp_vendor
-  diagnostic_updater
-  )
-  target_include_directories(test_service_log_checker PRIVATE src)
-endif()
-
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "autoware::component_interface_tools::ServiceLogChecker"
   EXECUTABLE service_log_checker_node
 )
 
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    test/test_autoware_component_interface_tools.cpp
+  )
+  target_link_libraries(test_${PROJECT_NAME}
+    ${PROJECT_NAME}
+  )
+  target_include_directories(test_${PROJECT_NAME} PRIVATE src)
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
@@ -19,11 +19,20 @@
   <depend>yaml_cpp_vendor</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>rclcpp_components</test_depend>
+  <test_depend>rclcpp</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_test_utils</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>tier4_system_msgs</test_depend>
   <test_depend>yaml_cpp_vendor</test_depend>
   <test_depend>diagnostic_updater</test_depend>
+  <test_depend>autoware_testing</test_depend>
+  <test_depend>ament_index_python</test_depend>
+  <test_depend>fake_test_node</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+
+
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/...e_tools/test/test_service_log_checker.cpp → ...st_autoware_component_interface_tools.cpp b/...e_tools/test/test_service_log_checker.cpp → ...st_autoware_component_interface_tools.cpp
@@ -11,21 +11,23 @@
 // 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 <gtest/gtest.h>
+ 
 #include "service_log_checker.hpp"
-
+#include <rclcpp/node_options.hpp>
 #include <yaml-cpp/yaml.h>
-
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
 #include <memory>
 #include <string>
+using ServiceLog = tier4_system_msgs::msg::ServiceLog;
+using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
+using ServiceLogChecker = autoware::component_interface_tools::ServiceLogChecker;
+using namespace rclcpp;
 
-TEST(service, checker)
+TEST(ServiceCheckerTest, ServiceChecker)
 {
-  {
-    using ServiceLog = tier4_system_msgs::msg::ServiceLog;
-    using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
-
+
     class PubManager : public rclcpp::Node
     {
     public:
@@ -47,11 +49,11 @@ TEST(service, checker)
         }
       }
     };
+
+    rclcpp::init(0, nullptr);
     auto node_options = rclcpp::NodeOptions{};
-    std::shared_ptr<ServiceLogChecker> checker;
-    checker = std::make_shared<ServiceLogChecker>(node_options);
-
-    auto test_log = std::make_shared<PubManager>();
+    auto test_target_node = std::make_shared<ServiceLogChecker>(node_options);
+    auto  test_log = std::make_shared<PubManager>();
     ServiceLog log;
     log.type = 6;
     log.name = "test";
@@ -60,5 +62,5 @@ TEST(service, checker)
 
     while (!test_log->flag) {
     }
-  }
+
 }