56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
#include <gtest/gtest.h>
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#include "mocks/MockDDS.h"
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#include <mutex>
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#include <condition_variable>
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TEST(GenericSmokeGTest, BasicStringOps) {
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std::string s = "MiXeD";
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for (auto &c : s) c = (char)std::tolower(c);
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EXPECT_EQ(s, "mixed");
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}
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TEST(GenericSmokeGTest, MockDDSPublishReceive) {
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MockDDS::clear_all();
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MockDDS::publish("topic1", "payload42");
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auto r = MockDDS::take_last("topic1");
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// format is "<seq>:<payload>"
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auto pos = r.find(':');
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ASSERT_NE(pos, std::string::npos);
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auto seq = std::stoul(r.substr(0, pos));
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auto payload = r.substr(pos + 1);
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EXPECT_EQ(payload, "payload42");
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EXPECT_EQ(seq, 1UL);
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}
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TEST(GenericSmokeGTest, MockDDSAsyncDelivery) {
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MockDDS::clear_all();
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std::mutex mtx;
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std::condition_variable cv;
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bool received = false;
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std::string last;
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auto cb = [&](const std::string &payload){
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std::lock_guard<std::mutex> lk(mtx);
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last = payload;
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received = true;
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cv.notify_one();
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};
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auto sub = MockDDS::subscribe("topic-async", cb);
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// publish asynchronously with small delay; callback should be invoked
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MockDDS::publish_async("topic-async", "async-payload", 20);
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std::unique_lock<std::mutex> lk(mtx);
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if (!cv.wait_for(lk, std::chrono::seconds(2), [&]{ return received; })) {
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// timeout
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MockDDS::unsubscribe("topic-async", sub);
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FAIL() << "Did not receive async callback in time";
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}
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MockDDS::unsubscribe("topic-async", sub);
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// parse annotation
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auto pos = last.find(':');
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ASSERT_NE(pos, std::string::npos);
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auto payload = last.substr(pos + 1);
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EXPECT_EQ(payload, "async-payload");
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}
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