From 35d80de1b9f3b4856245e1f823b76424f2644034 Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Fri, 13 Dec 2024 13:48:17 +0800
Subject: [PATCH 01/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
.../CMakeLists.txt | 11 ++++
.../package.xml | 3 +-
.../test/test_service_log_checker.cpp | 63 +++++++++++++++++++
3 files changed, 76 insertions(+), 1 deletion(-)
create mode 100644 common/autoware_component_interface_tools/test/test_service_log_checker.cpp
diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt
index ce4af924f4c28..4c04d310e64a7 100644
--- a/common/autoware_component_interface_tools/CMakeLists.txt
+++ b/common/autoware_component_interface_tools/CMakeLists.txt
@@ -8,6 +8,17 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
src/service_log_checker.cpp
)
+if(BUILD_TESTING)
+ ament_add_ros_isolated_gtest(test_service_log_checker
+ test/test_service_log_checker.cpp
+ )
+
+ target_link_libraries(test_service_log_checker
+ component_interface_tools
+ )
+ target_include_directories(test_service_log_checker PRIVATE src)
+endif()
+
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "autoware::component_interface_tools::ServiceLogChecker"
EXECUTABLE service_log_checker_node
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index 20919e15acd13..ab4d1c46dc6cf 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -9,7 +9,8 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
-
+ <buildtool_depend>ament_cmake_test</buildtool_depend>
+
<depend>diagnostic_updater</depend>
<depend>fmt</depend>
<depend>rclcpp</depend>
diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
new file mode 100644
index 0000000000000..74d7150ffe595
--- /dev/null
+++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
@@ -0,0 +1,63 @@
+// Copyright 2023 The Autoware Contributors
+//
+// 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) {
+ }
+ }
+}
From c5c53f8bf26271ffd0a7b09822c4e1166f78c6f3 Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Fri, 13 Dec 2024 17:46:33 +0800
Subject: [PATCH 02/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
common/autoware_component_interface_tools/CMakeLists.txt | 6 ++++--
common/autoware_component_interface_tools/package.xml | 6 +++++-
.../test/test_service_log_checker.cpp | 7 ++++---
3 files changed, 13 insertions(+), 6 deletions(-)
diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt
index 4c04d310e64a7..6f233ffde809a 100644
--- a/common/autoware_component_interface_tools/CMakeLists.txt
+++ b/common/autoware_component_interface_tools/CMakeLists.txt
@@ -13,8 +13,10 @@ if(BUILD_TESTING)
test/test_service_log_checker.cpp
)
- target_link_libraries(test_service_log_checker
- component_interface_tools
+ ament_target_dependencies(test_service_log_checker
+ tier4_system_msgs
+ yaml_cpp_vendor
+ diagnostic_updater
)
target_include_directories(test_service_log_checker PRIVATE src)
endif()
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index ab4d1c46dc6cf..1a561b6751a38 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -17,9 +17,13 @@
<depend>rclcpp_components</depend>
<depend>tier4_system_msgs</depend>
<depend>yaml_cpp_vendor</depend>
-
+
+ <test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
+ <test_depend>tier4_system_msgs</test_depend>
+ <test_depend>yaml_cpp_vendor</test_depend>
+ <test_depend>diagnostic_updater</test_depend>
<export>
<build_type>ament_cmake</build_type>
diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
index 74d7150ffe595..61989fe7d29f4 100644
--- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
+++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
@@ -47,9 +47,10 @@ TEST(service, checker)
}
}
};
-
- auto checker = std::make_shared<ServiceLogChecker>();
-
+ std::shared_ptr<ServiceLogChecker> checker;
+ rclcpp::NodeOptions option;
+ auto checker = std::make_shared<ServiceLogChecker>(option);
+
auto test_log = std::make_shared<PubManager>();
ServiceLog log;
log.type = 6;
From 339bbc2d1a81dfb6f5be2e308ca95753a83f8f21 Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Fri, 13 Dec 2024 18:03:10 +0800
Subject: [PATCH 03/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
.../test/test_service_log_checker.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
index 61989fe7d29f4..ae4ebb73bc2c3 100644
--- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
+++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
@@ -49,7 +49,7 @@ TEST(service, checker)
};
std::shared_ptr<ServiceLogChecker> checker;
rclcpp::NodeOptions option;
- auto checker = std::make_shared<ServiceLogChecker>(option);
+ checker = std::make_shared<ServiceLogChecker>(option);
auto test_log = std::make_shared<PubManager>();
ServiceLog log;
From 0c137a5f4af3084cb8394d6404ff3fd965f22081 Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Fri, 13 Dec 2024 18:10:26 +0800
Subject: [PATCH 04/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
.../test/test_service_log_checker.cpp | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
index ae4ebb73bc2c3..141ec9efb7827 100644
--- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
+++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
@@ -48,8 +48,7 @@ TEST(service, checker)
}
};
std::shared_ptr<ServiceLogChecker> checker;
- rclcpp::NodeOptions option;
- checker = std::make_shared<ServiceLogChecker>(option);
+ checker = std::make_shared<ServiceLogChecker>();
auto test_log = std::make_shared<PubManager>();
ServiceLog log;
From 952e025e445598ef2ee065c238bbc09a6b55c5e8 Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Fri, 13 Dec 2024 18:17:47 +0800
Subject: [PATCH 05/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
.../test/test_service_log_checker.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
index 141ec9efb7827..da6d0f66808e0 100644
--- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
+++ b/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
@@ -47,8 +47,9 @@ TEST(service, checker)
}
}
};
+ auto node_options = rclcpp::NodeOptions{};
std::shared_ptr<ServiceLogChecker> checker;
- checker = std::make_shared<ServiceLogChecker>();
+ checker = std::make_shared<ServiceLogChecker>(node_options);
auto test_log = std::make_shared<PubManager>();
ServiceLog log;
From 16062907d6ccde6b88c25e6a17be8c19a939d73f Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Tue, 17 Dec 2024 09:13:36 +0800
Subject: [PATCH 06/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
.../CMakeLists.txt | 24 +++++++--------
.../package.xml | 9 ++++++
...st_autoware_component_interface_tools.cpp} | 30 ++++++++++---------
3 files changed, 36 insertions(+), 27 deletions(-)
rename common/autoware_component_interface_tools/test/{test_service_log_checker.cpp => test_autoware_component_interface_tools.cpp} (73%)
diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt
index 6f233ffde809a..e953cfe062e4b 100644
--- a/common/autoware_component_interface_tools/CMakeLists.txt
+++ b/common/autoware_component_interface_tools/CMakeLists.txt
@@ -8,22 +8,20 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
src/service_log_checker.cpp
)
-if(BUILD_TESTING)
- ament_add_ros_isolated_gtest(test_service_log_checker
- test/test_service_log_checker.cpp
- )
-
- ament_target_dependencies(test_service_log_checker
- tier4_system_msgs
- yaml_cpp_vendor
- diagnostic_updater
- )
- target_include_directories(test_service_log_checker PRIVATE src)
-endif()
-
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "autoware::component_interface_tools::ServiceLogChecker"
EXECUTABLE service_log_checker_node
)
+
+if(BUILD_TESTING)
+ ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+ test/test_autoware_component_interface_tools.cpp
+ )
+ target_link_libraries(test_${PROJECT_NAME}
+ ${PROJECT_NAME}
+ )
+ target_include_directories(test_${PROJECT_NAME} PRIVATE src)
+endif()
+
ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index 1a561b6751a38..0c25f24713755 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -19,11 +19,20 @@
<depend>yaml_cpp_vendor</depend>
<test_depend>ament_cmake_ros</test_depend>
+ <test_depend>rclcpp_components</test_depend>
+ <test_depend>rclcpp</test_depend>
<test_depend>ament_lint_auto</test_depend>
+ <test_depend>autoware_test_utils</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>tier4_system_msgs</test_depend>
<test_depend>yaml_cpp_vendor</test_depend>
<test_depend>diagnostic_updater</test_depend>
+ <test_depend>autoware_testing</test_depend>
+ <test_depend>ament_index_python</test_depend>
+ <test_depend>fake_test_node</test_depend>
+ <test_depend>ament_cmake_gtest</test_depend>
+
+
<export>
<build_type>ament_cmake</build_type>
diff --git a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
similarity index 73%
rename from common/autoware_component_interface_tools/test/test_service_log_checker.cpp
rename to common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
index da6d0f66808e0..6906a57754065 100644
--- a/common/autoware_component_interface_tools/test/test_service_log_checker.cpp
+++ b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
@@ -11,21 +11,23 @@
// 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 <gtest/gtest.h>
+
#include "service_log_checker.hpp"
-
+#include <rclcpp/node_options.hpp>
#include <yaml-cpp/yaml.h>
-
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
#include <memory>
#include <string>
+using ServiceLog = tier4_system_msgs::msg::ServiceLog;
+using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
+using ServiceLogChecker = autoware::component_interface_tools::ServiceLogChecker;
+using namespace rclcpp;
-TEST(service, checker)
+TEST(ServiceCheckerTest, ServiceChecker)
{
- {
- using ServiceLog = tier4_system_msgs::msg::ServiceLog;
- using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
-
+
class PubManager : public rclcpp::Node
{
public:
@@ -47,11 +49,11 @@ TEST(service, checker)
}
}
};
+
+ rclcpp::init(0, nullptr);
auto node_options = rclcpp::NodeOptions{};
- std::shared_ptr<ServiceLogChecker> checker;
- checker = std::make_shared<ServiceLogChecker>(node_options);
-
- auto test_log = std::make_shared<PubManager>();
+ auto test_target_node = std::make_shared<ServiceLogChecker>(node_options);
+ auto test_log = std::make_shared<PubManager>();
ServiceLog log;
log.type = 6;
log.name = "test";
@@ -60,5 +62,5 @@ TEST(service, checker)
while (!test_log->flag) {
}
- }
+
}
From e2b76085cd27aeabfc13413b04c2e8e1a2028f40 Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Tue, 17 Dec 2024 09:37:50 +0800
Subject: [PATCH 07/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
common/autoware_component_interface_tools/CMakeLists.txt | 1 -
common/autoware_component_interface_tools/package.xml | 4 ----
.../test/test_autoware_component_interface_tools.cpp | 6 ++----
3 files changed, 2 insertions(+), 9 deletions(-)
diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt
index e953cfe062e4b..f1199b93174fd 100644
--- a/common/autoware_component_interface_tools/CMakeLists.txt
+++ b/common/autoware_component_interface_tools/CMakeLists.txt
@@ -13,7 +13,6 @@ rclcpp_components_register_node(${PROJECT_NAME}
EXECUTABLE service_log_checker_node
)
-
if(BUILD_TESTING)
ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
test/test_autoware_component_interface_tools.cpp
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index 0c25f24713755..1c6a0a7c0d966 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -29,11 +29,7 @@
<test_depend>diagnostic_updater</test_depend>
<test_depend>autoware_testing</test_depend>
<test_depend>ament_index_python</test_depend>
- <test_depend>fake_test_node</test_depend>
- <test_depend>ament_cmake_gtest</test_depend>
-
-
<export>
<build_type>ament_cmake</build_type>
</export>
diff --git a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
index 6906a57754065..79636ae314fc0 100644
--- a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
+++ b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
@@ -20,14 +20,13 @@
#include <rclcpp_components/register_node_macro.hpp>
#include <memory>
#include <string>
+
using ServiceLog = tier4_system_msgs::msg::ServiceLog;
using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
using ServiceLogChecker = autoware::component_interface_tools::ServiceLogChecker;
-using namespace rclcpp;
TEST(ServiceCheckerTest, ServiceChecker)
{
-
class PubManager : public rclcpp::Node
{
public:
@@ -53,7 +52,7 @@ TEST(ServiceCheckerTest, ServiceChecker)
rclcpp::init(0, nullptr);
auto node_options = rclcpp::NodeOptions{};
auto test_target_node = std::make_shared<ServiceLogChecker>(node_options);
- auto test_log = std::make_shared<PubManager>();
+ auto test_log = std::make_shared<PubManager>();
ServiceLog log;
log.type = 6;
log.name = "test";
@@ -62,5 +61,4 @@ TEST(ServiceCheckerTest, ServiceChecker)
while (!test_log->flag) {
}
-
}
From a9e3874f25ff7b2f82694d3d6ad9166a6ba3014d Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Thu, 19 Dec 2024 10:06:54 +0800
Subject: [PATCH 08/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
.../test/test_autoware_component_interface_tools.cpp | 4 ----
1 file changed, 4 deletions(-)
diff --git a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
index 79636ae314fc0..257700db91bd0 100644
--- a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
+++ b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
@@ -12,12 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
-
#include "service_log_checker.hpp"
#include <rclcpp/node_options.hpp>
-#include <yaml-cpp/yaml.h>
-#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
#include <memory>
#include <string>
From 662e11a871c002281d9aaa63df2e3ee1d5d0b2c1 Mon Sep 17 00:00:00 2001
From: "jack.song" <jack.song@autocore.ai>
Date: Thu, 19 Dec 2024 10:15:08 +0800
Subject: [PATCH 09/10] rebase commom tools
Signed-off-by: jack.song <jack.song@autocore.ai>
---
common/autoware_component_interface_tools/package.xml | 3 ---
1 file changed, 3 deletions(-)
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index 1c6a0a7c0d966..54679a048cff4 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -19,15 +19,12 @@
<depend>yaml_cpp_vendor</depend>
<test_depend>ament_cmake_ros</test_depend>
- <test_depend>rclcpp_components</test_depend>
<test_depend>rclcpp</test_depend>
<test_depend>ament_lint_auto</test_depend>
- <test_depend>autoware_test_utils</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>tier4_system_msgs</test_depend>
<test_depend>yaml_cpp_vendor</test_depend>
<test_depend>diagnostic_updater</test_depend>
- <test_depend>autoware_testing</test_depend>
<test_depend>ament_index_python</test_depend>
<export>
From 4b4f4a6d38e17b518d8f7a41b615d7f2af7930b1 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 19 Dec 2024 02:18:22 +0000
Subject: [PATCH 10/10] style(pre-commit): autofix
---
.../package.xml | 14 ++--
...est_autoware_component_interface_tools.cpp | 67 ++++++++++---------
2 files changed, 42 insertions(+), 39 deletions(-)
diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml
index 54679a048cff4..0ae88b2d86b1c 100644
--- a/common/autoware_component_interface_tools/package.xml
+++ b/common/autoware_component_interface_tools/package.xml
@@ -8,25 +8,25 @@
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
- <buildtool_depend>autoware_cmake</buildtool_depend>
<buildtool_depend>ament_cmake_test</buildtool_depend>
-
+ <buildtool_depend>autoware_cmake</buildtool_depend>
+
<depend>diagnostic_updater</depend>
<depend>fmt</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_system_msgs</depend>
<depend>yaml_cpp_vendor</depend>
-
+
<test_depend>ament_cmake_ros</test_depend>
- <test_depend>rclcpp</test_depend>
+ <test_depend>ament_index_python</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
+ <test_depend>diagnostic_updater</test_depend>
+ <test_depend>rclcpp</test_depend>
<test_depend>tier4_system_msgs</test_depend>
<test_depend>yaml_cpp_vendor</test_depend>
- <test_depend>diagnostic_updater</test_depend>
- <test_depend>ament_index_python</test_depend>
-
+
<export>
<build_type>ament_cmake</build_type>
</export>
diff --git a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
index 257700db91bd0..631c8b4cc7083 100644
--- a/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
+++ b/common/autoware_component_interface_tools/test/test_autoware_component_interface_tools.cpp
@@ -11,9 +11,12 @@
// 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 <rclcpp/node_options.hpp>
+
+#include <gtest/gtest.h>
+
#include <memory>
#include <string>
@@ -23,38 +26,38 @@ using ServiceLogChecker = autoware::component_interface_tools::ServiceLogChecker
TEST(ServiceCheckerTest, ServiceChecker)
{
- class PubManager : public rclcpp::Node
+ class PubManager : public rclcpp::Node
+ {
+ public:
+ PubManager() : Node("test_pub_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;
- }
+ 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;
}
- };
-
- rclcpp::init(0, nullptr);
- auto node_options = rclcpp::NodeOptions{};
- auto test_target_node = std::make_shared<ServiceLogChecker>(node_options);
- 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) {
}
+ };
+
+ rclcpp::init(0, nullptr);
+ auto node_options = rclcpp::NodeOptions{};
+ auto test_target_node = std::make_shared<ServiceLogChecker>(node_options);
+ 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) {
+ }
}