vision_adapter.test.cpp File Reference

#include <iostream>
#include <string>
#include <google/protobuf/util/json_util.h>
#include <google/protobuf/text_format.h>
#include <ros/ros.h>
#include <ros/console.h>
#include <gazebo_msgs/ModelStates.h>
#include <gtest/gtest.h>
#include "travesim_adapters/udp/multicast_receiver.hpp"
#include "packet.pb.h"

Include dependency graph for vision_adapter.test.cpp:

Go to the source code of this file.

Macros
#define	BUFFER_SIZE   1024U
#define	MAX_RETRIES   5

Functions
	TEST (vision_adapter, relay_messages)
int	main (int argc, char **argv)

Detailed Description

Author

Felipe Gomes de Melo felip.nosp@m.e.go.nosp@m.mes@t.nosp@m.hund.nosp@m.eratz.nosp@m..org

Date

04/2021

Copyright

MIT License - Copyright (c) 2021 ThundeRatz

Definition in file vision_adapter.test.cpp.

Macro Definition Documentation

BUFFER_SIZE

#define BUFFER_SIZE   1024U

Definition at line 24 of file vision_adapter.test.cpp.

MAX_RETRIES

#define MAX_RETRIES   5

Definition at line 25 of file vision_adapter.test.cpp.

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 74 of file vision_adapter.test.cpp.

                                {
    testing::InitGoogleTest(&argc, argv);
    ros::init(argc, argv, "tester_vision_adapter");
    ros::NodeHandle nh;
    return RUN_ALL_TESTS();
}

TEST()

TEST	(	vision_adapter	,
		relay_messages
	)

Definition at line 27 of file vision_adapter.test.cpp.

{
    std::string listen_address_str = "0.0.0.0";

    char data_buff[BUFFER_SIZE];

    uint16_t multicast_port = 10002;
    std::string multicast_address_str = "224.0.0.1";

    travesim::udp::MulticastReceiver my_receiver(multicast_address_str, multicast_port);

    size_t data_size = -1;
    size_t retries = 0;

    bool success = false;

    while (!success && retries < MAX_RETRIES) {
        while (retries < MAX_RETRIES && data_size <= 0) {
            EXPECT_NO_THROW(data_size = my_receiver.receive(data_buff, BUFFER_SIZE));
            retries++;
            ros::Duration(0.5).sleep();
        }

        EXPECT_LT(retries, MAX_RETRIES);
        EXPECT_GT(data_size, 0);

        fira_message::sim_to_ref::Environment env_data;
        env_data.ParseFromString(data_buff);

        std::string parsed_msg;

        google::protobuf::util::JsonPrintOptions options;
        options.add_whitespace = true;
        options.always_print_primitive_fields = true;

        google::protobuf::util::MessageToJsonString(env_data, &parsed_msg, options);

        ROS_INFO_STREAM(parsed_msg);

        success = env_data.has_frame();
        data_size = 0;
    }

    EXPECT_EQ(success, true);
}

References BUFFER_SIZE, MAX_RETRIES, and travesim::udp::Receiver::receive().

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