feat: add common interface tools test

common/autoware_component_interface_tools/CMakeLists.txt

@@ -13,4 +13,14 @@ rclcpp_components_register_node(${PROJECT_NAME}
   EXECUTABLE service_log_checker_node
 )
 
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    test/test_autoware_component_interface_tools.cpp
+  )
+  target_link_libraries(test_${PROJECT_NAME}
+    ${PROJECT_NAME}
+  )
+  target_include_directories(test_${PROJECT_NAME} PRIVATE src)
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE launch)

common/autoware_component_interface_tools/package.xml

@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_test</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>diagnostic_updater</depend>
@@ -17,8 +18,14 @@
   <depend>tier4_system_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_index_python</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>diagnostic_updater</test_depend>
+  <test_depend>rclcpp</test_depend>
+  <test_depend>tier4_system_msgs</test_depend>
+  <test_depend>yaml_cpp_vendor</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.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 "service_log_checker.hpp"
+
+#include <rclcpp/node_options.hpp>
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+using ServiceLog = tier4_system_msgs::msg::ServiceLog;
+using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
+using ServiceLogChecker = autoware::component_interface_tools::ServiceLogChecker;
+
+TEST(ServiceCheckerTest, ServiceChecker)
+{
+  class PubManager : public rclcpp::Node
+  {
+  public:
+    PubManager() : Node("test_pub_node")
+    {
+      pub_odom_ = create_publisher<ServiceLog>("service_log", 1);
+      sub_odom_ = create_subscription<DiagnosticArray>(
+        "/diagnostics", 1, std::bind(&PubManager::on_service_log, this, std::placeholders::_1));
+    }
+    rclcpp::Publisher<ServiceLog>::SharedPtr pub_odom_;
+    rclcpp::Subscription<DiagnosticArray>::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<ServiceLogChecker>(node_options);
+  auto test_log = std::make_shared<PubManager>();
+  ServiceLog log;
+  log.type = 6;
+  log.name = "test";
+  log.node = "test_node";
+  test_log->pub_odom_->publish(log);
+
+  while (!test_log->flag) {
+  }
+}