test_safety_limiter_base.h

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#ifndef TEST_SAFETY_LIMITER_BASE_H
#define TEST_SAFETY_LIMITER_BASE_H
 
#include <string>
 
#include <ros/ros.h>
 
#include <diagnostic_msgs/DiagnosticArray.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <std_msgs/Empty.h>
#include <safety_limiter_msgs/SafetyLimiterStatus.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_broadcaster.h>
 
#include <gtest/gtest.h>
 
namespace
{
inline void GenerateEmptyPointcloud2(sensor_msgs::PointCloud2& cloud)
{
  cloud.height = 1;
  cloud.width = 0;
  cloud.is_bigendian = false;
  cloud.is_dense = false;
  sensor_msgs::PointCloud2Modifier modifier(cloud);
  modifier.setPointCloud2FieldsByString(1, "xyz");
}
inline void GenerateSinglePointPointcloud2(
    sensor_msgs::PointCloud2& cloud,
    const float x,
    const float y,
    const float z)
{
  cloud.height = 1;
  cloud.width = 1;
  cloud.is_bigendian = false;
  cloud.is_dense = false;
  sensor_msgs::PointCloud2Modifier modifier(cloud);
  modifier.setPointCloud2FieldsByString(1, "xyz");
  sensor_msgs::PointCloud2Iterator<float> iter_x(cloud, "x");
  sensor_msgs::PointCloud2Iterator<float> iter_y(cloud, "y");
  sensor_msgs::PointCloud2Iterator<float> iter_z(cloud, "z");
  modifier.resize(1);
  *iter_x = x;
  *iter_y = y;
  *iter_z = z;
}
}  // namespace
 
class SafetyLimiterTest : public ::testing::Test
{
protected:
  ros::NodeHandle nh_;
  ros::Publisher pub_cmd_vel_;
  ros::Publisher pub_cloud_;
  ros::Publisher pub_watchdog_;
  ros::Subscriber sub_diag_;
  ros::Subscriber sub_status_;
  ros::Subscriber sub_cmd_vel_;
 
  tf2_ros::TransformBroadcaster tfb_;
 
  inline void cbDiag(const diagnostic_msgs::DiagnosticArray::ConstPtr& msg)
  {
    diag_ = msg;
  }
 
  inline void cbStatus(const safety_limiter_msgs::SafetyLimiterStatus::ConstPtr& msg)
  {
    status_ = msg;
  }
 
  inline void cbCmdVel(const geometry_msgs::Twist::ConstPtr& msg)
  {
    cmd_vel_ = msg;
  }
 
public:
  diagnostic_msgs::DiagnosticArray::ConstPtr diag_;
  safety_limiter_msgs::SafetyLimiterStatus::ConstPtr status_;
  geometry_msgs::Twist::ConstPtr cmd_vel_;
 
  inline SafetyLimiterTest()
    : nh_()
  {
    pub_cmd_vel_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel_in", 1);
    pub_cloud_ = nh_.advertise<sensor_msgs::PointCloud2>("cloud", 1);
    pub_watchdog_ = nh_.advertise<std_msgs::Empty>("watchdog_reset", 1);
    sub_diag_ = nh_.subscribe("diagnostics", 1, &SafetyLimiterTest::cbDiag, this);
    sub_status_ = nh_.subscribe("/safety_limiter/status", 1, &SafetyLimiterTest::cbStatus, this);
    sub_cmd_vel_ = nh_.subscribe("cmd_vel", 1, &SafetyLimiterTest::cbCmdVel, this);
 
    ros::Rate wait(10.0);
    // Skip initial state
    for (int i = 0; i < 10 && ros::ok(); ++i)
    {
      publishEmptyPointPointcloud2("base_link", ros::Time::now());
      publishWatchdogReset();
      broadcastTF("odom", "base_link", 0.0, 0.0);
 
      wait.sleep();
      ros::spinOnce();
    }
    cmd_vel_.reset();
    diag_.reset();
    status_.reset();
  }
  inline void publishWatchdogReset()
  {
    std_msgs::Empty watchdog_reset;
    pub_watchdog_.publish(watchdog_reset);
  }
  inline void publishEmptyPointPointcloud2(
      const std::string frame_id,
      const ros::Time stamp)
  {
    sensor_msgs::PointCloud2 cloud;
    cloud.header.frame_id = frame_id;
    cloud.header.stamp = stamp;
    GenerateEmptyPointcloud2(cloud);
    pub_cloud_.publish(cloud);
  }
  inline void publishSinglePointPointcloud2(
      const float x,
      const float y,
      const float z,
      const std::string frame_id,
      const ros::Time stamp)
  {
    sensor_msgs::PointCloud2 cloud;
    cloud.header.frame_id = frame_id;
    cloud.header.stamp = stamp;
    GenerateSinglePointPointcloud2(cloud, x, y, z);
    pub_cloud_.publish(cloud);
  }
  inline void publishTwist(
      const float lin,
      const float ang,
      const float lin_y = 0.0)
  {
    geometry_msgs::Twist cmd_vel_out;
    cmd_vel_out.linear.x = lin;
    cmd_vel_out.linear.y = lin_y;
    cmd_vel_out.angular.z = ang;
    pub_cmd_vel_.publish(cmd_vel_out);
  }
  inline void broadcastTF(
      const std::string parent_frame_id,
      const std::string child_frame_id,
      const float lin,
      const float ang)
  {
    geometry_msgs::TransformStamped trans;
    trans.header.stamp = ros::Time::now();
    trans.transform = tf2::toMsg(
        tf2::Transform(tf2::Quaternion(tf2::Vector3(0, 0, 1), ang), tf2::Vector3(lin, 0, 0)));
    trans.header.frame_id = parent_frame_id;
    trans.child_frame_id = child_frame_id;
    tfb_.sendTransform(trans);
  }
  inline bool hasDiag() const
  {
    if (!diag_)
      return false;
    if (diag_->status.size() == 0)
      return false;
    return true;
  }
  inline bool hasStatus() const
  {
    return static_cast<bool>(status_);
  }
};
 
#endif  // TEST_SAFETY_LIMITER_BASE_H