fix:add comm tool test

Signed-off-by: jack.song <jack.song@autocore.ai>

Author: shulanbushangshu

common/component_interface_tools/CMakeLists.txt

@@ -4,4 +4,19 @@ project(component_interface_tools)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 ament_auto_add_executable(service_log_checker src/service_log_checker.cpp)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/service_log_checker.cpp
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_service_log_checker
+    test/test_service_log_checker.cpp
+  )
+  
+  target_link_libraries(test_service_log_checker
+  component_interface_tools
+  )
+  target_include_directories(test_service_log_checker PRIVATE src)
+endif()
 ament_auto_package(INSTALL_TO_SHARE launch)

common/component_interface_tools/package.xml

@@ -17,9 +17,11 @@
   <depend>rclcpp</depend>
   <depend>tier4_system_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
-
+  <depend>service_log_checker</depend>
+  
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

common/component_interface_tools/test/test_service_log_checker.cpp

@@ -0,0 +1,63 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "gtest/gtest.h"
+#include "service_log_checker.hpp"
+#include <yaml-cpp/yaml.h>
+#include <memory>
+#include <string>
+
+TEST(service,checker)
+{
+    {
+        using ServiceLog = tier4_system_msgs::msg::ServiceLog;
+        using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
+
+        class PubManager : public rclcpp::Node
+        {
+        public:
+            PubManager() : Node("test_pub_node")
+            {
+                pub_odom_ = create_publisher<ServiceLog>("service_log", 1);
+                sub_odom_ = create_subscription<DiagnosticArray>("/diagnostics", 1, std::bind(&PubManager::on_service_log, this, std::placeholders::_1));
+            }
+            rclcpp::Publisher<ServiceLog>::SharedPtr pub_odom_;
+            rclcpp::Subscription<DiagnosticArray>::SharedPtr sub_odom_;
+            bool flag=false;
+            void on_service_log(const DiagnosticArray::ConstSharedPtr msg)
+            {
+                if(msg->status.size()>0)
+                {   
+                    auto diag_array = msg->status[0].message.c_str();
+                    EXPECT_EQ(diag_array,"ERROR");
+                    flag=true;
+                }
+            }
+        };
+
+        auto checker = std::make_shared<ServiceLogChecker>();
+        
+        auto test_log = std::make_shared<PubManager>();
+        ServiceLog log;
+        log.type=6;
+        log.name="test";
+        log.node="test_node";
+        test_log->pub_odom_->publish(log);
+
+        while(!test_log->flag)
+        {
+
+        }
+    }
+}