first test for autoware node

Signed-off-by: M. Fatih Cırıt <[email protected]>

common/autoware_control_center/CMakeLists.txt

@@ -6,7 +6,7 @@ autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/control_center_node.cpp
-  src/include/control_center_node.hpp
+  include/autoware/control_center/control_center_node.hpp
 )
 
 # In order to instantiate only a single instance, we have to use custom main function

common/autoware_control_center/src/control_center_main.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "include/control_center_node.hpp"
+#include "autoware/control_center/control_center_node.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

common/autoware_control_center/src/control_center_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "include/control_center_node.hpp"
+#include "autoware/control_center/control_center_node.hpp"
 
 #include <autoware_utils/ros/uuid_helper.hpp>
 

common/autoware_control_center/test/test_cc_heartbeat.cpp

@@ -14,7 +14,7 @@
 
 #include "test_utility.hpp"
 
-#include <control_center_node.hpp>
+#include <autoware/control_center/control_center_node.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 

common/autoware_control_center/test/test_cc_init_shutdown.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <control_center_node.hpp>
+#include <autoware/control_center/control_center_node.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 

common/autoware_control_center/test/test_cc_registering.cpp

@@ -14,7 +14,7 @@
 
 #include "test_utility.hpp"
 
-#include <control_center_node.hpp>
+#include <autoware/control_center/control_center_node.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 

common/autoware_node/CMakeLists.txt

@@ -7,10 +7,23 @@ autoware_package()
 ament_auto_add_library(${PROJECT_NAME} src/node.cpp)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  ament_add_ros_isolated_gtest(test_autoware_node test/test_node.cpp)
-  target_link_libraries(test_autoware_node ${PROJECT_NAME})
+  file(GLOB_RECURSE TEST_FILES test/*.cpp)
+
+  foreach(TEST_FILE ${TEST_FILES})
+    # Get the test name without directory and extension
+    get_filename_component(TEST_NAME ${TEST_FILE} NAME_WE)
+
+    # Add each test separately
+    ament_add_ros_isolated_gtest(${TEST_NAME} ${TEST_FILE} TIMEOUT 10)
+    target_include_directories(${TEST_NAME} PRIVATE src/include)
+    target_link_libraries(${TEST_NAME} ${PROJECT_NAME})
+    ament_target_dependencies(${TEST_NAME}
+      rclcpp
+      rclcpp_lifecycle
+      autoware_utils
+      autoware_control_center_msgs
+      autoware_control_center)
+  endforeach()
 endif()
 
 ament_auto_package()

common/autoware_node/config/node.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    period_timer_register_ms: 100

common/autoware_node/include/autoware/node/node.hpp

@@ -121,7 +121,6 @@ class Node : public rclcpp_lifecycle::LifecycleNode
   rclcpp::TimerBase::SharedPtr timer_registration_;
   //  rclcpp::TimerBase::SharedPtr timer_heartbeat_;
 
-  const std::string full_name_;
   bool is_registered_;
   unique_identifier_msgs::msg::UUID uuid_node_;
   //  uint16_t sequence_number_;

common/autoware_node/src/node.cpp

@@ -28,10 +28,9 @@ namespace autoware::node
 Node::Node(
   const std::string & node_name, const std::string & ns, const rclcpp::NodeOptions & options)
 : LifecycleNode(node_name, ns, options),
-  full_name_{get_node_base_interface()->get_fully_qualified_name()},
   is_registered_{false}
 {
-  RCLCPP_DEBUG(get_logger(), "Node %s constructor", full_name_.c_str());
+  RCLCPP_DEBUG(get_logger(), "Node %s constructor", get_node_base_interface()->get_fully_qualified_name());
   std::chrono::milliseconds period_timer_register(
     declare_parameter<int>("period_timer_register_ms"));
 
@@ -72,7 +71,7 @@ void Node::on_tick_registration()
   }
   autoware_control_center_msgs::srv::Register::Request::SharedPtr req =
     std::make_shared<autoware_control_center_msgs::srv::Register::Request>();
-  req->node_name_with_namespace = full_name_;
+  req->node_name_with_namespace = get_node_base_interface()->get_fully_qualified_name();
 
   cli_register_->async_send_request(
     req, std::bind(&Node::on_register, this, std::placeholders::_1));

common/autoware_node/test/test_node.cpp

@@ -12,24 +12,69 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "test_node.hpp"
-
-#include "autoware/node/node.hpp"
-#include "gtest/gtest.h"
-// #include "rclcpp_components/rclcpp.hpp"
-
-// class AutowareNodeTest : public ::testing::Test
-// {
-// public:
-//   void SetUp() override
-//   {
-//     rclcpp::init(0, nullptr);
-//     autoware_node_ =
-//       std::make_shared<autoware_node::AutowareNode(rclcpp::NodeOptions());
-//   }
-
-//   void TearDown() override {rclcpp::shutdown();}
-//   autoware_node::AutowareNode::SharedPtr autoware_node_;
-// }
+#include <autoware/control_center/control_center_node.hpp>
+#include <autoware/node/node.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <lifecycle_msgs/msg/state.hpp>
+
+#include <gtest/gtest.h>
+
+class AutowareNodeRegisterTest : public ::testing::Test
+{
+public:
+  void SetUp() override
+  {
+    rclcpp::init(0, nullptr);
+    node_options_an_.append_parameter_override("period_timer_register_ms", 100);
+
+    node_options_acc_.append_parameter_override("deadline_ms", 220.0);
+    node_options_acc_.append_parameter_override("report_publish_rate", 100.0);
+  }
+
+  void TearDown() override { rclcpp::shutdown(); }
+
+  rclcpp::NodeOptions node_options_acc_;
+  rclcpp::NodeOptions node_options_an_;
+};
+
+TEST_F(AutowareNodeRegisterTest, NodeInitShutdown)
+{
+  std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor;
+  executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+
+  autoware::node::Node::SharedPtr autoware_node =
+    std::make_shared<autoware::node::Node>("test_node", "test_ns", node_options_an_);
+  autoware::node::Node::SharedPtr control_center =
+    std::make_shared<autoware::control_center::ControlCenter>(node_options_acc_);
+
+  executor->add_node(control_center->get_node_base_interface());
+  executor->add_node(autoware_node->get_node_base_interface());
+
+  std::cout << "Info - Added nodes to executor" << std::endl;
+
+  std::thread thread_spin = std::thread([&executor]() {
+    std::cout << "Thread - Spinning executor" << std::endl;
+    executor->spin();
+    std::cout << "Thread - Spun executor" << std::endl;
+  });
+
+  std::cout << "Info - Spinning executor" << std::endl;
+
+  ASSERT_EQ(
+    control_center->get_current_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+
+  auto state = control_center->shutdown();
+
+  ASSERT_EQ(state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  executor->cancel();  // make sure cancel is called after spin
+  std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  if (thread_spin.joinable()) {
+    thread_spin.join();
+  }
+}
 
 // TEST_F(AutowareNodeTest, Sen)