feat: add common interface tools test

common/component_interface_tools/CMakeLists.txt

@@ -4,4 +4,19 @@ project(component_interface_tools)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 ament_auto_add_executable(service_log_checker src/service_log_checker.cpp)
+
+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()
 ament_auto_package(INSTALL_TO_SHARE launch)

common/component_interface_tools/package.xml

@@ -15,9 +15,11 @@
   <depend>diagnostic_updater</depend>
   <depend>fmt</depend>
   <depend>rclcpp</depend>
+  <depend>service_log_checker</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>
 

common/component_interface_tools/test/test_service_log_checker.cpp

@@ -0,0 +1,63 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// 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) {
+    }
+  }
+}