From 35d80de1b9f3b4856245e1f823b76424f2644034 Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Fri, 13 Dec 2024 13:48:17 +0800 Subject: [PATCH 01/10] rebase commom tools Signed-off-by: jack.song --- .../CMakeLists.txt | 11 ++++ .../package.xml | 3 +- .../test/test_service_log_checker.cpp | 63 +++++++++++++++++++ 3 files changed, 76 insertions(+), 1 deletion(-) create mode 100644 common/autoware_component_interface_tools/test/test_service_log_checker.cpp diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt index ce4af924f4c28..4c04d310e64a7 100644 --- a/common/autoware_component_interface_tools/CMakeLists.txt +++ b/common/autoware_component_interface_tools/CMakeLists.txt @@ -8,6 +8,17 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/service_log_checker.cpp ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_service_log_checker + test/test_service_log_checker.cpp + ) + + target_link_libraries(test_service_log_checker + component_interface_tools + ) + target_include_directories(test_service_log_checker PRIVATE src) +endif() + rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::component_interface_tools::ServiceLogChecker" EXECUTABLE service_log_checker_node diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index 20919e15acd13..ab4d1c46dc6cf 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -9,7 +9,8 @@ ament_cmake_auto autoware_cmake - + ament_cmake_test + diagnostic_updater fmt rclcpp diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp new file mode 100644 index 0000000000000..74d7150ffe595 --- /dev/null +++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp @@ -0,0 +1,63 @@ +// Copyright 2023 The Autoware Contributors +// +// 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 "service_log_checker.hpp" + +#include + +#include +#include + +TEST(service, checker) +{ + { + using ServiceLog = tier4_system_msgs::msg::ServiceLog; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + + class PubManager : public rclcpp::Node + { + public: + PubManager() : Node("test_pub_node") + { + pub_odom_ = create_publisher("service_log", 1); + sub_odom_ = create_subscription( + "/diagnostics", 1, std::bind(&PubManager::on_service_log, this, std::placeholders::_1)); + } + rclcpp::Publisher::SharedPtr pub_odom_; + rclcpp::Subscription::SharedPtr sub_odom_; + bool flag = false; + void on_service_log(const DiagnosticArray::ConstSharedPtr msg) + { + if (msg->status.size() > 0) { + auto diag_array = msg->status[0].message.c_str(); + EXPECT_EQ(diag_array, "ERROR"); + flag = true; + } + } + }; + + auto checker = std::make_shared(); + + auto test_log = std::make_shared(); + ServiceLog log; + log.type = 6; + log.name = "test"; + log.node = "test_node"; + test_log->pub_odom_->publish(log); + + while (!test_log->flag) { + } + } +} From c5c53f8bf26271ffd0a7b09822c4e1166f78c6f3 Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Fri, 13 Dec 2024 17:46:33 +0800 Subject: [PATCH 02/10] rebase commom tools Signed-off-by: jack.song --- common/autoware_component_interface_tools/CMakeLists.txt | 6 ++++-- common/autoware_component_interface_tools/package.xml | 6 +++++- .../test/test_service_log_checker.cpp | 7 ++++--- 3 files changed, 13 insertions(+), 6 deletions(-) diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt index 4c04d310e64a7..6f233ffde809a 100644 --- a/common/autoware_component_interface_tools/CMakeLists.txt +++ b/common/autoware_component_interface_tools/CMakeLists.txt @@ -13,8 +13,10 @@ if(BUILD_TESTING) test/test_service_log_checker.cpp ) - target_link_libraries(test_service_log_checker - component_interface_tools + 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() diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index ab4d1c46dc6cf..1a561b6751a38 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -17,9 +17,13 @@ rclcpp_components tier4_system_msgs yaml_cpp_vendor - + + ament_cmake_ros ament_lint_auto autoware_lint_common + tier4_system_msgs + yaml_cpp_vendor + diagnostic_updater ament_cmake diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp index 74d7150ffe595..61989fe7d29f4 100644 --- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp +++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp @@ -47,9 +47,10 @@ TEST(service, checker) } } }; - - auto checker = std::make_shared(); - + std::shared_ptr checker; + rclcpp::NodeOptions option; + auto checker = std::make_shared(option); + auto test_log = std::make_shared(); ServiceLog log; log.type = 6; From 339bbc2d1a81dfb6f5be2e308ca95753a83f8f21 Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Fri, 13 Dec 2024 18:03:10 +0800 Subject: [PATCH 03/10] rebase commom tools Signed-off-by: jack.song --- .../test/test_service_log_checker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp index 61989fe7d29f4..ae4ebb73bc2c3 100644 --- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp +++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp @@ -49,7 +49,7 @@ TEST(service, checker) }; std::shared_ptr checker; rclcpp::NodeOptions option; - auto checker = std::make_shared(option); + checker = std::make_shared(option); auto test_log = std::make_shared(); ServiceLog log; From 0c137a5f4af3084cb8394d6404ff3fd965f22081 Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Fri, 13 Dec 2024 18:10:26 +0800 Subject: [PATCH 04/10] rebase commom tools Signed-off-by: jack.song --- .../test/test_service_log_checker.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp index ae4ebb73bc2c3..141ec9efb7827 100644 --- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp +++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp @@ -48,8 +48,7 @@ TEST(service, checker) } }; std::shared_ptr checker; - rclcpp::NodeOptions option; - checker = std::make_shared(option); + checker = std::make_shared(); auto test_log = std::make_shared(); ServiceLog log; From 952e025e445598ef2ee065c238bbc09a6b55c5e8 Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Fri, 13 Dec 2024 18:17:47 +0800 Subject: [PATCH 05/10] rebase commom tools Signed-off-by: jack.song --- .../test/test_service_log_checker.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp index 141ec9efb7827..da6d0f66808e0 100644 --- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp +++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp @@ -47,8 +47,9 @@ TEST(service, checker) } } }; + auto node_options = rclcpp::NodeOptions{}; std::shared_ptr checker; - checker = std::make_shared(); + checker = std::make_shared(node_options); auto test_log = std::make_shared(); ServiceLog log; From 16062907d6ccde6b88c25e6a17be8c19a939d73f Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Tue, 17 Dec 2024 09:13:36 +0800 Subject: [PATCH 06/10] rebase commom tools Signed-off-by: jack.song --- .../CMakeLists.txt | 24 +++++++-------- .../package.xml | 9 ++++++ ...st_autoware_component_interface_tools.cpp} | 30 ++++++++++--------- 3 files changed, 36 insertions(+), 27 deletions(-) rename common/autoware_component_interface_tools/test/{test_service_log_checker.cpp => test_autoware_component_interface_tools.cpp} (73%) diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt index 6f233ffde809a..e953cfe062e4b 100644 --- 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 index 1a561b6751a38..0c25f24713755 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -19,11 +19,20 @@ yaml_cpp_vendor ament_cmake_ros + rclcpp_components + rclcpp ament_lint_auto + autoware_test_utils autoware_lint_common tier4_system_msgs yaml_cpp_vendor diagnostic_updater + autoware_testing + ament_index_python + fake_test_node + ament_cmake_gtest + + ament_cmake diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp similarity index 73% rename from common/autoware_component_interface_tools/test/test_service_log_checker.cpp rename to common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp index da6d0f66808e0..6906a57754065 100644 --- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp +++ b/common/autoware_component_interface_tools/test/test_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 + #include "service_log_checker.hpp" - +#include #include - +#include +#include #include #include +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 checker; - checker = std::make_shared(node_options); - - auto test_log = std::make_shared(); + auto test_target_node = std::make_shared(node_options); + auto test_log = std::make_shared(); ServiceLog log; log.type = 6; log.name = "test"; @@ -60,5 +62,5 @@ TEST(service, checker) while (!test_log->flag) { } - } + } From e2b76085cd27aeabfc13413b04c2e8e1a2028f40 Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Tue, 17 Dec 2024 09:37:50 +0800 Subject: [PATCH 07/10] rebase commom tools Signed-off-by: jack.song --- common/autoware_component_interface_tools/CMakeLists.txt | 1 - common/autoware_component_interface_tools/package.xml | 4 ---- .../test/test_autoware_component_interface_tools.cpp | 6 ++---- 3 files changed, 2 insertions(+), 9 deletions(-) diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt index e953cfe062e4b..f1199b93174fd 100644 --- a/common/autoware_component_interface_tools/CMakeLists.txt +++ b/common/autoware_component_interface_tools/CMakeLists.txt @@ -13,7 +13,6 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE service_log_checker_node ) - if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_autoware_component_interface_tools.cpp diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index 0c25f24713755..1c6a0a7c0d966 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -29,11 +29,7 @@ diagnostic_updater autoware_testing ament_index_python - fake_test_node - ament_cmake_gtest - - ament_cmake diff --git a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp index 6906a57754065..79636ae314fc0 100644 --- a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp +++ b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp @@ -20,14 +20,13 @@ #include #include #include + using ServiceLog = tier4_system_msgs::msg::ServiceLog; using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; using ServiceLogChecker = autoware::component_interface_tools::ServiceLogChecker; -using namespace rclcpp; TEST(ServiceCheckerTest, ServiceChecker) { - class PubManager : public rclcpp::Node { public: @@ -53,7 +52,7 @@ TEST(ServiceCheckerTest, ServiceChecker) rclcpp::init(0, nullptr); auto node_options = rclcpp::NodeOptions{}; auto test_target_node = std::make_shared(node_options); - auto test_log = std::make_shared(); + auto test_log = std::make_shared(); ServiceLog log; log.type = 6; log.name = "test"; @@ -62,5 +61,4 @@ TEST(ServiceCheckerTest, ServiceChecker) while (!test_log->flag) { } - } From a9e3874f25ff7b2f82694d3d6ad9166a6ba3014d Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Thu, 19 Dec 2024 10:06:54 +0800 Subject: [PATCH 08/10] rebase commom tools Signed-off-by: jack.song --- .../test/test_autoware_component_interface_tools.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp index 79636ae314fc0..257700db91bd0 100644 --- a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp +++ b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp @@ -12,12 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. #include - #include "service_log_checker.hpp" #include -#include -#include -#include #include #include From 662e11a871c002281d9aaa63df2e3ee1d5d0b2c1 Mon Sep 17 00:00:00 2001 From: "jack.song" Date: Thu, 19 Dec 2024 10:15:08 +0800 Subject: [PATCH 09/10] rebase commom tools Signed-off-by: jack.song --- common/autoware_component_interface_tools/package.xml | 3 --- 1 file changed, 3 deletions(-) diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index 1c6a0a7c0d966..54679a048cff4 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -19,15 +19,12 @@ yaml_cpp_vendor ament_cmake_ros - rclcpp_components rclcpp ament_lint_auto - autoware_test_utils autoware_lint_common tier4_system_msgs yaml_cpp_vendor diagnostic_updater - autoware_testing ament_index_python From 4b4f4a6d38e17b518d8f7a41b615d7f2af7930b1 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 19 Dec 2024 02:18:22 +0000 Subject: [PATCH 10/10] style(pre-commit): autofix --- .../package.xml | 14 ++-- ...est_autoware_component_interface_tools.cpp | 67 ++++++++++--------- 2 files changed, 42 insertions(+), 39 deletions(-) diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index 54679a048cff4..0ae88b2d86b1c 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -8,25 +8,25 @@ Apache License 2.0 ament_cmake_auto - autoware_cmake ament_cmake_test - + autoware_cmake + diagnostic_updater fmt rclcpp rclcpp_components tier4_system_msgs yaml_cpp_vendor - + ament_cmake_ros - rclcpp + ament_index_python ament_lint_auto autoware_lint_common + diagnostic_updater + rclcpp tier4_system_msgs yaml_cpp_vendor - diagnostic_updater - ament_index_python - + ament_cmake diff --git a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp index 257700db91bd0..631c8b4cc7083 100644 --- a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp +++ b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp @@ -11,9 +11,12 @@ // 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 #include "service_log_checker.hpp" + #include + +#include + #include #include @@ -23,38 +26,38 @@ using ServiceLogChecker = autoware::component_interface_tools::ServiceLogChecker TEST(ServiceCheckerTest, ServiceChecker) { - class PubManager : public rclcpp::Node + class PubManager : public rclcpp::Node + { + public: + PubManager() : Node("test_pub_node") { - public: - PubManager() : Node("test_pub_node") - { - pub_odom_ = create_publisher("service_log", 1); - sub_odom_ = create_subscription( - "/diagnostics", 1, std::bind(&PubManager::on_service_log, this, std::placeholders::_1)); - } - rclcpp::Publisher::SharedPtr pub_odom_; - rclcpp::Subscription::SharedPtr sub_odom_; - bool flag = false; - void on_service_log(const DiagnosticArray::ConstSharedPtr msg) - { - if (msg->status.size() > 0) { - auto diag_array = msg->status[0].message.c_str(); - EXPECT_EQ(diag_array, "ERROR"); - flag = true; - } + pub_odom_ = create_publisher("service_log", 1); + sub_odom_ = create_subscription( + "/diagnostics", 1, std::bind(&PubManager::on_service_log, this, std::placeholders::_1)); + } + rclcpp::Publisher::SharedPtr pub_odom_; + rclcpp::Subscription::SharedPtr sub_odom_; + bool flag = false; + void on_service_log(const DiagnosticArray::ConstSharedPtr msg) + { + if (msg->status.size() > 0) { + auto diag_array = msg->status[0].message.c_str(); + EXPECT_EQ(diag_array, "ERROR"); + flag = true; } - }; - - rclcpp::init(0, nullptr); - auto node_options = rclcpp::NodeOptions{}; - auto test_target_node = std::make_shared(node_options); - auto test_log = std::make_shared(); - ServiceLog log; - log.type = 6; - log.name = "test"; - log.node = "test_node"; - test_log->pub_odom_->publish(log); - - while (!test_log->flag) { } + }; + + rclcpp::init(0, nullptr); + auto node_options = rclcpp::NodeOptions{}; + auto test_target_node = std::make_shared(node_options); + auto test_log = std::make_shared(); + ServiceLog log; + log.type = 6; + log.name = "test"; + log.node = "test_node"; + test_log->pub_odom_->publish(log); + + while (!test_log->flag) { + } }