integration_test.h

#ifndef INTEGRATION_TEST_H
#define INTEGRATION_TEST_H
 
#include <rclcpp/publisher.hpp>
#include <rclcpp/qos.hpp>
#include <rclcpp/rclcpp.hpp>
 
#include <std_msgs/msg/bool.hpp>
 
#include <thread>
 
class IntegrationTest
{
 
public:
  IntegrationTest();
 
  rclcpp::Node::SharedPtr node_;
  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
 
  rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr publisher_result_;
 
  void reportTesResult(const bool result);
 
  std::thread main_thread_;
 
  void spin();
 
  void join();
};
 
// constructor
IntegrationTest::IntegrationTest()
{
 
  node_ = rclcpp::Node::make_shared("test");
  executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
  executor_->add_node(node_);
 
  publisher_result_ = node_->create_publisher<std_msgs::msg::Bool>("/test_result", 100);
 
  main_thread_ = std::thread(&IntegrationTest::spin, this);
}
 
void IntegrationTest::reportTesResult(const bool result)
{
 
  printf("[IntegrationTest]: publishing result %s", result ? "SUCCESS" : "FAILED");
 
  std_msgs::msg::Bool result_msg;
  result_msg.data = result;
 
  publisher_result_->publish(result_msg);
}
 
void IntegrationTest::spin()
{
 
  printf("[IntegrationTest]: spinning");
 
  executor_->spin();
}
 
void IntegrationTest::join()
{
 
  printf("[IntegrationTest]: joined");
 
  main_thread_.join();
}
 
#endif // INTEGRATION_TEST_H