test_joystick_interrupt.cpp

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#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/Twist.h>

#include <gtest/gtest.h>

class JoystickInterruptTest : public ::testing::Test
{
protected:
  ros::NodeHandle nh_;
  ros::Publisher pub_cmd_vel_;
  ros::Publisher pub_joy_;
  ros::Subscriber sub_cmd_vel_;

  geometry_msgs::Twist::ConstPtr cmd_vel_;

  void cbCmdVel(const geometry_msgs::Twist::ConstPtr& msg)
  {
    cmd_vel_ = msg;
  }

public:
  JoystickInterruptTest()
    : nh_()
  {
    pub_cmd_vel_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel_input", 1);
    pub_joy_ = nh_.advertise<sensor_msgs::Joy>("joy", 1);
    sub_cmd_vel_ = nh_.subscribe("cmd_vel", 1, &JoystickInterruptTest::cbCmdVel, this);
  }
  void publishCmdVel(
      const float lin,
      const float ang)
  {
    geometry_msgs::Twist cmd_vel_out;
    cmd_vel_out.linear.x = lin;
    cmd_vel_out.angular.z = ang;
    pub_cmd_vel_.publish(cmd_vel_out);
  }
  void publishJoy(
      const int button,
      const int high_speed,
      const float lin0,
      const float ang0,
      const float lin1,
      const float ang1)
  {
    sensor_msgs::Joy joy;
    joy.header.stamp = ros::Time::now();
    joy.buttons.resize(2);
    joy.buttons[0] = button;
    joy.buttons[1] = high_speed;
    joy.axes.resize(4);
    joy.axes[0] = lin0;
    joy.axes[1] = ang0;
    joy.axes[2] = lin1;
    joy.axes[3] = ang1;
    pub_joy_.publish(joy);
  }
};

TEST_F(JoystickInterruptTest, NoInterrupt)
{
  ros::Duration(1.0).sleep();
  ros::Rate rate(20);
  for (size_t i = 0; i < 25; ++i)
  {
    publishCmdVel(0.1, 0.2);
    if (i < 5)
      publishJoy(0, 0, 0, 0, 0, 0);
    else if (i < 10)
      publishJoy(0, 0, 1, 1, 0, 0);
    else if (i < 15)
      publishJoy(0, 0, 0, 0, 1, 1);
    else if (i < 20)
      publishJoy(0, 1, 1, 1, 0, 0);
    else
      publishJoy(0, 1, 0, 0, 1, 1);

    rate.sleep();
    ros::spinOnce();
    if (i < 3)
      continue;
    ASSERT_TRUE(static_cast<bool>(cmd_vel_));
    ASSERT_NEAR(cmd_vel_->linear.x, 0.1, 1e-3);
    ASSERT_NEAR(cmd_vel_->angular.z, 0.2, 1e-3);
  }
}

TEST_F(JoystickInterruptTest, Interrupt)
{
  ros::Duration(1.0).sleep();
  ros::Rate rate(20);
  for (size_t i = 0; i < 25; ++i)
  {
    publishCmdVel(0.1, 0.2);
    if (i < 5)
      publishJoy(0, 0, 0, 0, 0, 0);
    else if (i < 10)
      publishJoy(1, 0, 1, 0, 0, 0);
    else if (i < 15)
      publishJoy(1, 0, 0, 0, 1, 0);
    else if (i < 20)
      publishJoy(1, 0, 0, 1, 0, 0);
    else
      publishJoy(1, 0, 0, 0, 0, 1);

    rate.sleep();
    ros::spinOnce();
    if (i < 3)
      continue;
    ASSERT_TRUE(static_cast<bool>(cmd_vel_));
    if (i < 5)
    {
      ASSERT_NEAR(cmd_vel_->linear.x, 0.1, 1e-3);
      ASSERT_NEAR(cmd_vel_->angular.z, 0.2, 1e-3);
    }
    else if (i < 15)
    {
      ASSERT_NEAR(cmd_vel_->linear.x, 1.0, 1e-3);
      ASSERT_NEAR(cmd_vel_->angular.z, 0.0, 1e-3);
    }
    else
    {
      ASSERT_NEAR(cmd_vel_->linear.x, 0.0, 1e-3);
      ASSERT_NEAR(cmd_vel_->angular.z, 1.0, 1e-3);
    }
  }
}

TEST_F(JoystickInterruptTest, InterruptHighSpeed)
{
  ros::Duration(1.0).sleep();
  ros::Rate rate(20);
  for (size_t i = 0; i < 25; ++i)
  {
    publishCmdVel(0.1, 0.2);
    if (i < 5)
      publishJoy(0, 0, 0, 0, 0, 0);
    else if (i < 10)
      publishJoy(1, 1, 1, 0, 0, 0);
    else if (i < 15)
      publishJoy(1, 1, 0, 0, 1, 0);
    else if (i < 20)
      publishJoy(1, 1, 0, 1, 0, 0);
    else
      publishJoy(1, 1, 0, 0, 0, 1);

    rate.sleep();
    ros::spinOnce();
    if (i < 3)
      continue;
    ASSERT_TRUE(static_cast<bool>(cmd_vel_));
    if (i < 5)
    {
      ASSERT_NEAR(cmd_vel_->linear.x, 0.1, 1e-3);
      ASSERT_NEAR(cmd_vel_->angular.z, 0.2, 1e-3);
    }
    else if (i < 15)
    {
      ASSERT_NEAR(cmd_vel_->linear.x, 2.0, 1e-3);
      ASSERT_NEAR(cmd_vel_->angular.z, 0.0, 1e-3);
    }
    else
    {
      ASSERT_NEAR(cmd_vel_->linear.x, 0.0, 1e-3);
      ASSERT_NEAR(cmd_vel_->angular.z, 2.0, 1e-3);
    }
  }
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_joystick_interrupt");

  return RUN_ALL_TESTS();
}