xs
60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
# test/test_pub_sub.cpp - cpp_pubsub 单元测试
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#
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# 设计思想:
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# - SetUpTestSuite / TearDownTestSuite 共享 rclcpp::init / shutdown
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# - 用 spin_some(50ms) 代替 spin() 控制超时
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# - 不依赖 launch_testing(避免环境耦合)
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#include <chrono>
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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_pubsub/chatter_publisher.hpp"
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#include "cpp_pubsub/chatter_subscriber.hpp"
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using namespace std::chrono_literals;
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class PubsubTest : public ::testing::Test
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{
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protected:
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static void SetUpTestSuite()
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{
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rclcpp::init(0, nullptr);
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}
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static void TearDownTestSuite()
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{
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rclcpp::shutdown();
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}
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};
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TEST_F(PubsubTest, PublisherConstructsWithDefaults)
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{
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auto node = std::make_shared<cpp_pubsub::ChatterPublisher>();
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EXPECT_EQ(node->get_name(), std::string("chatter_publisher"));
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EXPECT_EQ(node->get_parameter("publish_rate_hz").as_int(), 2);
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EXPECT_EQ(node->get_parameter("topic_name").as_string(), std::string("chatter"));
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}
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TEST_F(PubsubTest, SubscriberConstructsWithDefaults)
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{
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auto node = std::make_shared<cpp_pubsub::ChatterSubscriber>();
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EXPECT_EQ(node->get_name(), std::string("chatter_subscriber"));
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EXPECT_EQ(node->get_parameter("topic_name").as_string(), std::string("chatter"));
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}
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TEST_F(PubsubTest, PublisherSpinSomeWorks)
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{
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auto node = std::make_shared<cpp_pubsub::ChatterPublisher>();
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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exec->add_node(node);
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const auto end = std::chrono::steady_clock::now() + 1s;
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while (std::chrono::steady_clock::now() < end) {
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exec->spin_some(50ms);
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}
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EXPECT_GE(node->count_publishers("chatter"), 0u);
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} |