ros2_foxglove_bridge/tests/smoke_test.cpp File Reference

#include <chrono>
#include <filesystem>
#include <future>
#include <thread>
#include <gtest/gtest.h>
#include <std_msgs/msg/string.hpp>
#include <std_srvs/srv/set_bool.hpp>
#include <websocketpp/config/asio_client.hpp>
#include <foxglove_bridge/ros2_foxglove_bridge.hpp>
#include <foxglove_bridge/test/test_client.hpp>
#include <foxglove_bridge/websocket_client.hpp>

Include dependency graph for ros2_foxglove_bridge/tests/smoke_test.cpp:

Go to the source code of this file.

Classes
class	ExistingPublisherTest
class	ParameterTest
class	PublisherTest
class	ServiceTest
class	TestWithExecutor

Functions
template<class T >
std::shared_ptr< T >	deserializeMsg (const rcl_serialized_message_t *msg)
	INSTANTIATE_TEST_SUITE_P (ExistingPublisherTestCDR, ExistingPublisherTest, testing::Values(std::make_pair("cdr", std::vector< uint8_t >(HELLO_WORLD_CDR, std::end(HELLO_WORLD_CDR)))))
	INSTANTIATE_TEST_SUITE_P (ExistingPublisherTestJSON, ExistingPublisherTest, testing::Values(std::make_pair("json", std::vector< uint8_t >(HELLO_WORLD_JSON, std::end(HELLO_WORLD_JSON)))))
	INSTANTIATE_TEST_SUITE_P (TestPublishingCDR, PublisherTest, testing::Values(std::make_pair("cdr", std::vector< uint8_t >(HELLO_WORLD_CDR, std::end(HELLO_WORLD_CDR)))))
	INSTANTIATE_TEST_SUITE_P (TestPublishingJSON, PublisherTest, testing::Values(std::make_pair("json", std::vector< uint8_t >(HELLO_WORLD_JSON, std::end(HELLO_WORLD_JSON)))))
int	main (int argc, char **argv)
template<class T >
std::shared_ptr< rclcpp::SerializedMessage >	serializeMsg (const T *msg)
	TEST (FetchAssetTest, fetchExistingAsset)
	TEST (FetchAssetTest, fetchNonExistingAsset)
	TEST (SmokeTest, receiveMessagesOfMultipleTransientLocalPublishers)
	TEST (SmokeTest, testConnection)
	TEST (SmokeTest, testSubscription)
	TEST (SmokeTest, testSubscriptionParallel)
	TEST_F (ParameterTest, testGetAllParams)
	TEST_F (ParameterTest, testGetNonExistingParameters)
	TEST_F (ParameterTest, testGetParameters)
	TEST_F (ParameterTest, testGetParametersParallel)
	TEST_F (ParameterTest, testParameterSubscription)
	TEST_F (ParameterTest, testSetFloatParametersWithIntegers)
	TEST_F (ParameterTest, testSetParameters)
	TEST_F (ParameterTest, testSetParametersWithReqId)
	TEST_F (ParameterTest, testUnsetParameter)
	TEST_F (ServiceTest, testAdvertiseService)
	TEST_F (ServiceTest, testCallNonexistentService)
	TEST_F (ServiceTest, testCallServiceParallel)
	TEST_P (ExistingPublisherTest, testPublishingWithExistingPublisher)
	TEST_P (PublisherTest, testPublishing)

Variables
constexpr auto	DEFAULT_TIMEOUT = std::chrono::seconds(10)
constexpr uint8_t	HELLO_WORLD_CDR []
constexpr char	HELLO_WORLD_JSON [] = "{\"data\": \"hello world\"}"
constexpr auto	ONE_SECOND = std::chrono::seconds(1)
constexpr char	STD_MSGS_STRING_SCHEMA [] = "data string"
constexpr char	URI [] = "ws://localhost:8765"

Function Documentation

deserializeMsg()

template<class T >

std::shared_ptr<T> deserializeMsg

(

const rcl_serialized_message_t *

msg

)

Definition at line 164 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

INSTANTIATE_TEST_SUITE_P() [1/4]

INSTANTIATE_TEST_SUITE_P	(	ExistingPublisherTestCDR	,
		ExistingPublisherTest	,
		testing::Values(std::make_pair("cdr", std::vector< uint8_t >(HELLO_WORLD_CDR, std::end(HELLO_WORLD_CDR))))
	)

INSTANTIATE_TEST_SUITE_P() [2/4]

INSTANTIATE_TEST_SUITE_P	(	ExistingPublisherTestJSON	,
		ExistingPublisherTest	,
		testing::Values(std::make_pair("json", std::vector< uint8_t >(HELLO_WORLD_JSON, std::end(HELLO_WORLD_JSON))))
	)

INSTANTIATE_TEST_SUITE_P() [3/4]

INSTANTIATE_TEST_SUITE_P	(	TestPublishingCDR	,
		PublisherTest	,
		testing::Values(std::make_pair("cdr", std::vector< uint8_t >(HELLO_WORLD_CDR, std::end(HELLO_WORLD_CDR))))
	)

INSTANTIATE_TEST_SUITE_P() [4/4]

INSTANTIATE_TEST_SUITE_P	(	TestPublishingJSON	,
		PublisherTest	,
		testing::Values(std::make_pair("json", std::vector< uint8_t >(HELLO_WORLD_JSON, std::end(HELLO_WORLD_JSON))))
	)

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 764 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

serializeMsg()

template<class T >

std::shared_ptr<rclcpp::SerializedMessage> serializeMsg

(

const T *

msg

)

Definition at line 154 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST() [1/6]

TEST	(	FetchAssetTest	,
		fetchExistingAsset
	)

Definition at line 717 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST() [2/6]

TEST	(	FetchAssetTest	,
		fetchNonExistingAsset
	)

Definition at line 746 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST() [3/6]

TEST	(	SmokeTest	,
		receiveMessagesOfMultipleTransientLocalPublishers
	)

Definition at line 666 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST() [4/6]

TEST	(	SmokeTest	,
		testConnection
	)

Definition at line 173 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST() [5/6]

TEST	(	SmokeTest	,
		testSubscription
	)

Definition at line 178 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST() [6/6]

TEST	(	SmokeTest	,
		testSubscriptionParallel
	)

Definition at line 215 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [1/12]

TEST_F	(	ParameterTest	,
		testGetAllParams
	)

Definition at line 361 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [2/12]

TEST_F	(	ParameterTest	,
		testGetNonExistingParameters
	)

Definition at line 371 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [3/12]

TEST_F	(	ParameterTest	,
		testGetParameters
	)

Definition at line 382 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [4/12]

TEST_F	(	ParameterTest	,
		testGetParametersParallel
	)

Definition at line 540 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [5/12]

TEST_F	(	ParameterTest	,
		testParameterSubscription
	)

Definition at line 521 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [6/12]

TEST_F	(	ParameterTest	,
		testSetFloatParametersWithIntegers
	)

Definition at line 465 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [7/12]

TEST_F	(	ParameterTest	,
		testSetParameters
	)

Definition at line 411 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [8/12]

TEST_F	(	ParameterTest	,
		testSetParametersWithReqId
	)

Definition at line 449 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [9/12]

TEST_F	(	ParameterTest	,
		testUnsetParameter
	)

Definition at line 506 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [10/12]

TEST_F	(	ServiceTest	,
		testAdvertiseService
	)

Definition at line 573 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [11/12]

TEST_F	(	ServiceTest	,
		testCallNonexistentService
	)

Definition at line 640 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_F() [12/12]

TEST_F	(	ServiceTest	,
		testCallServiceParallel
	)

Definition at line 588 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_P() [1/2]

TEST_P	(	ExistingPublisherTest	,
		testPublishingWithExistingPublisher
	)

Definition at line 311 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

TEST_P() [2/2]

TEST_P	(	PublisherTest	,
		testPublishing
	)

Definition at line 261 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

Variable Documentation

DEFAULT_TIMEOUT

constexpr auto DEFAULT_TIMEOUT = std::chrono::seconds(10)

constexpr

Definition at line 24 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

HELLO_WORLD_CDR

constexpr uint8_t HELLO_WORLD_CDR[]

constexpr

Initial value:

= {0,   1,   0,   0,  12,  0,   0,   0,   104, 101,
                                       108, 108, 111, 32, 119, 111, 114, 108, 100, 0}

Definition at line 18 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

HELLO_WORLD_JSON

constexpr char HELLO_WORLD_JSON[] = "{\"data\": \"hello world\"}"

constexpr

Definition at line 20 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

ONE_SECOND

constexpr auto ONE_SECOND = std::chrono::seconds(1)

constexpr

Definition at line 23 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

STD_MSGS_STRING_SCHEMA

constexpr char STD_MSGS_STRING_SCHEMA[] = "data string"

constexpr

Definition at line 21 of file ros2_foxglove_bridge/tests/smoke_test.cpp.

URI

constexpr char URI[] = "ws://localhost:8765"

constexpr

Definition at line 15 of file ros2_foxglove_bridge/tests/smoke_test.cpp.