alb_services_test.cpp

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// Standard headers
#include <memory>
#include <thread>
 
// GTest headers
#include <gtest/gtest.h>
 
// ROS headers
#include "ros/ros.h"
#include "std_srvs/Trigger.h"
 
// Local headers
#include "alb_common.h"
#include "alb_requester.h"
#include "outsight_alb_driver/AlbConfig.h"
#include "outsight_alb_driver/AlbFile.h"
 
// Constant testing definition.
constexpr const char *k_invalid_service = "invalid_service";
 
class AlbServicesTest : public ::testing::Test {
    protected:
        void SetUp() override
        {
                requester = std::make_unique<AlbRequester>(node);
        }
 
        void TearDown() override
        {
                // Sleep to correctly delete the ROS services.
                ros::Duration(0.5).sleep();
        }
 
        void testServiceCall(const std::string &service_name)
        {
                // Check that the callback is called.
                ASSERT_TRUE(ros::service::waitForService(service_name, ros::Duration(1)));
                ASSERT_TRUE(ros::service::call(service_name, request, response));
        }
 
    protected:
        ros::NodeHandle node;
        std::unique_ptr<AlbRequester> requester;
        std_srvs::Trigger::Request request;
        std_srvs::Trigger::Response response;
};
 
TEST_F(AlbServicesTest, invalidService)
{
        ASSERT_FALSE(ros::service::exists(k_invalid_service, true));
        ASSERT_FALSE(ros::service::waitForService(k_invalid_service, ros::Duration(1)));
        ASSERT_FALSE(ros::service::call(k_invalid_service, request, response));
}
 
TEST_F(AlbServicesTest, processingServicesDefined)
{
        ASSERT_TRUE(ros::service::exists(ALBCommon::k_alb_processing_restart, true));
        ASSERT_TRUE(ros::service::exists(ALBCommon::k_alb_processing_stop, true));
        ASSERT_TRUE(ros::service::exists(ALBCommon::k_alb_processing_get_config, true));
        ASSERT_TRUE(ros::service::exists(ALBCommon::k_alb_processing_put_config, true));
}
 
TEST_F(AlbServicesTest, processingServicesCalled)
{
        testServiceCall(ALBCommon::k_alb_processing_restart);
        testServiceCall(ALBCommon::k_alb_processing_stop);
}
 
TEST_F(AlbServicesTest, processingConfigServicesCalled)
{
        outsight_alb_driver::AlbConfig srv;
        ASSERT_TRUE(ros::service::waitForService(ALBCommon::k_alb_processing_get_config, ros::Duration(1)));
        ASSERT_TRUE(ros::service::call(ALBCommon::k_alb_processing_get_config, srv));
 
        ASSERT_TRUE(ros::service::waitForService(ALBCommon::k_alb_processing_put_config, ros::Duration(1)));
        ASSERT_TRUE(ros::service::call(ALBCommon::k_alb_processing_put_config, srv));
}
 
TEST_F(AlbServicesTest, storageServicesDefined)
{
        ASSERT_TRUE(ros::service::exists(ALBCommon::k_alb_storage_download, true));
        ASSERT_TRUE(ros::service::exists(ALBCommon::k_alb_storage_upload, true));
        ASSERT_TRUE(ros::service::exists(ALBCommon::k_alb_storage_list, true));
}
 
TEST_F(AlbServicesTest, storageServicesCalled)
{
        outsight_alb_driver::AlbFile srv;
        ASSERT_TRUE(ros::service::waitForService(ALBCommon::k_alb_storage_download, ros::Duration(1)));
        ASSERT_TRUE(ros::service::call(ALBCommon::k_alb_storage_download, srv));
 
        ASSERT_TRUE(ros::service::waitForService(ALBCommon::k_alb_storage_upload, ros::Duration(1)));
        ASSERT_TRUE(ros::service::call(ALBCommon::k_alb_storage_upload, srv));
 
        ASSERT_TRUE(ros::service::waitForService(ALBCommon::k_alb_storage_list, ros::Duration(1)));
        ASSERT_TRUE(ros::service::call(ALBCommon::k_alb_storage_list, srv));
}
 
int main(int argc, char **argv)
{
        testing::InitGoogleTest(&argc, argv);
        ros::init(argc, argv, "alb_services_test");
 
        std::thread t([] {
                while (ros::ok()) {
                        ros::spin();
                }
        });
 
        auto res = RUN_ALL_TESTS();
        ros::shutdown();
 
        return res;
}