# test/test_pub_sub.cpp - cpp_pubsub 单元测试
#
# 设计思想:
#   - SetUpTestSuite / TearDownTestSuite 共享 rclcpp::init / shutdown
#   - 用 spin_some(50ms) 代替 spin() 控制超时
#   - 不依赖 launch_testing(避免环境耦合)

#include <chrono>
#include <memory>

#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"

#include "cpp_pubsub/chatter_publisher.hpp"
#include "cpp_pubsub/chatter_subscriber.hpp"

using namespace std::chrono_literals;

class PubsubTest : public ::testing::Test
{
protected:
  static void SetUpTestSuite()
  {
    rclcpp::init(0, nullptr);
  }

  static void TearDownTestSuite()
  {
    rclcpp::shutdown();
  }
};

TEST_F(PubsubTest, PublisherConstructsWithDefaults)
{
  auto node = std::make_shared<cpp_pubsub::ChatterPublisher>();
  EXPECT_EQ(node->get_name(), std::string("chatter_publisher"));
  EXPECT_EQ(node->get_parameter("publish_rate_hz").as_int(), 2);
  EXPECT_EQ(node->get_parameter("topic_name").as_string(), std::string("chatter"));
}

TEST_F(PubsubTest, SubscriberConstructsWithDefaults)
{
  auto node = std::make_shared<cpp_pubsub::ChatterSubscriber>();
  EXPECT_EQ(node->get_name(), std::string("chatter_subscriber"));
  EXPECT_EQ(node->get_parameter("topic_name").as_string(), std::string("chatter"));
}

TEST_F(PubsubTest, PublisherSpinSomeWorks)
{
  auto node = std::make_shared<cpp_pubsub::ChatterPublisher>();
  auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  exec->add_node(node);

  const auto end = std::chrono::steady_clock::now() + 1s;
  while (std::chrono::steady_clock::now() < end) {
    exec->spin_some(50ms);
  }

  EXPECT_GE(node->count_publishers("chatter"), 0u);
}