Merge branch 'main' into feature/dont_insert_stop_point_crosswalk

Signed-off-by: kyoichi-sugahara <[email protected]>

common/component_interface_utils/CMakeLists.txt

@@ -3,4 +3,24 @@ project(component_interface_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
+
+include_directories(
+  include
+  SYSTEM
+  ${rclcpp_INCLUDE_DIRS}
+  ${rosidl_runtime_cpp_INCLUDE_DIRS}
+  ${rcl_INCLUDE_DIRS}
+  ${autoware_adapi_v1_msgs_INCLUDE_DIRS}
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_component_interface_utils
+    test/test_component_interface_utils.cpp
+  )
+
+  target_include_directories(test_component_interface_utils
+    PRIVATE include
+  )
+endif()
+
 ament_auto_package()

common/component_interface_utils/package.xml

@@ -19,6 +19,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

common/component_interface_utils/test/test_component_interface_utils.cpp

@@ -0,0 +1,76 @@
+// 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 "component_interface_utils/rclcpp/exceptions.hpp"
+#include "component_interface_utils/specs.hpp"
+#include "component_interface_utils/status.hpp"
+#include "gtest/gtest.h"
+
+TEST(interface, utils)
+{
+  {
+    using component_interface_utils::ServiceException;
+    using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus;
+    using ResponseStatusCode = ResponseStatus::_code_type;
+
+    ResponseStatusCode code = 10;
+    const std::string message = "test_exception";
+    ServiceException service(code, message);
+    ResponseStatus code_back;
+    code_back = service.status();
+    EXPECT_EQ(code_back.code, code);
+    EXPECT_EQ(code_back.message, message);
+  }
+
+  {
+    using component_interface_utils::ServiceException;
+    using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus;
+    using ResponseStatusCode = ResponseStatus::_code_type;
+
+    ResponseStatusCode code = 10;
+    const std::string message = "test_exception";
+    ServiceException service(code, message);
+    ResponseStatus code_set;
+    service.set(code_set);
+    EXPECT_EQ(code_set.code, code);
+    EXPECT_EQ(code_set.message, message);
+  }
+
+  {
+    using component_interface_utils::ServiceException;
+    using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus;
+    using ResponseStatusCode = ResponseStatus::_code_type;
+    using component_interface_utils::status::copy;
+
+    class status_test
+    {
+    public:
+      status_test(ResponseStatusCode code, const std::string & message, bool success = false)
+      {
+        status.code = code;
+        status.message = message;
+        status.success = success;
+      }
+      ResponseStatus status;
+    };
+
+    const status_test status_in(10, "test_exception", true);
+    auto status_copy = std::make_shared<status_test>(100, "test_exception_copy", false);
+    copy(&status_in, status_copy);
+
+    EXPECT_EQ(status_in.status.code, status_copy->status.code);
+    EXPECT_EQ(status_in.status.message, status_copy->status.message);
+    EXPECT_EQ(status_in.status.success, status_copy->status.success);
+  }
+}