xs
64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
// test_custom_interfaces.cpp - gtest 验证自定义消息构造
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#include <cmath>
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#include <memory>
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#include "gtest/gtest.h"
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#include "rclcpp/rclcpp.hpp"
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#include "cpp_custom_interface/msg/sensor_reading.hpp"
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#include "cpp_custom_interface/srv/get_calibration.hpp"
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#include "cpp_custom_interface/action/move_arm.hpp"
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class CustomInterfaceTest : public ::testing::Test
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{
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protected:
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static void SetUpTestSuite() { rclcpp::init(0, nullptr); }
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static void TearDownTestSuite() { rclcpp::shutdown(); }
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};
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TEST_F(CustomInterfaceTest, SensorReadingFields)
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{
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auto msg = cpp_custom_interface::msg::SensorReading();
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msg.sensor_id = "imu_0";
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msg.unit = "rad/s";
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msg.value = 1.234;
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EXPECT_EQ(msg.sensor_id, "imu_0");
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EXPECT_EQ(msg.unit, "rad/s");
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EXPECT_DOUBLE_EQ(msg.value, 1.234);
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}
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TEST_F(CustomInterfaceTest, GetCalibrationRequestResponse)
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{
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auto req = std::make_shared<cpp_custom_interface::srv::GetCalibration::Request>();
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req->sensor_id = "lidar_front";
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auto resp = std::make_shared<cpp_custom_interface::srv::GetCalibration::Response>();
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resp->intrinsic_matrix = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
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resp->bias = {0.1, 0.2, 0.3};
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resp->calibration_date = "2026-08-04";
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resp->valid = true;
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EXPECT_EQ(req->sensor_id, "lidar_front");
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EXPECT_TRUE(resp->valid);
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EXPECT_EQ(resp->intrinsic_matrix.size(), 9u);
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EXPECT_EQ(resp->bias.size(), 3u);
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}
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TEST_F(CustomInterfaceTest, MoveArmGoalFeedbackResult)
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{
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auto goal = cpp_custom_interface::action::MoveArm::Goal();
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goal.max_velocity_scaling = 0.5f;
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auto fb = cpp_custom_interface::action::MoveArm::Feedback();
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fb.progress = 0.5f;
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fb.current_state = "executing";
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auto result = cpp_custom_interface::action::MoveArm::Result();
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result.success = true;
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result.total_time_sec = 1.5;
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EXPECT_FLOAT_EQ(goal.max_velocity_scaling, 0.5f);
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EXPECT_FLOAT_EQ(fb.progress, 0.5f);
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EXPECT_TRUE(result.success);
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} |