From b12bbdaa0975c9b2657c8b01e3847d63745cb75c Mon Sep 17 00:00:00 2001
From: Richardvdketterij <richard.van.de.ketterij@nobleo.nl>
Date: Tue, 16 Jan 2024 09:50:55 +0100
Subject: [PATCH] add 3 unittests

---
 .../test/systemtest/test_cpu_monitor.py       | 51 +++++++++++++++++--
 1 file changed, 48 insertions(+), 3 deletions(-)

diff --git a/diagnostic_common_diagnostics/test/systemtest/test_cpu_monitor.py b/diagnostic_common_diagnostics/test/systemtest/test_cpu_monitor.py
index 0e482ff9..bc21c325 100644
--- a/diagnostic_common_diagnostics/test/systemtest/test_cpu_monitor.py
+++ b/diagnostic_common_diagnostics/test/systemtest/test_cpu_monitor.py
@@ -34,12 +34,34 @@
 
 import unittest
 import time
+import rclpy
+
+from rclpy.node import Node
 from diagnostic_msgs.msg import DiagnosticStatus
 from diagnostic_updater import DiagnosticStatusWrapper
+from diagnostic_updater import DiagnosticArray, Updater
 from diagnostic_common_diagnostics.cpu_monitor import CpuTask
+import time
 
 class TestCPUMonitor(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init(args=None)
+
+    @classmethod
+    def tearDownClass(cls):
+        if rclpy.ok():
+            rclpy.shutdown()
+
+    def diagnostics_callback(self, msg):
+        self.message_recieved = True
+        self.assertEqual(len(msg.status), 1)
+
     def test_ok(self):
+        # In this case is recommended for accuracy that psutil.cpu_percent()
+        # function be called with at least 0.1 seconds between calls.
+        time.sleep(0.1)
+
         warning_percentage = 100
         task = CpuTask(warning_percentage)
         stat = DiagnosticStatusWrapper()
@@ -52,7 +74,9 @@ def test_ok(self):
         self.assertGreaterEqual(len(stat.values), 2)
 
     def test_warn(self):
-        # time.sleep(0.1)
+        # In this case is recommended for accuracy that psutil.cpu_percent()
+        # function be called with at least 0.1 seconds between calls.
+        time.sleep(0.1)
 
         warning_percentage2 = 0
         task2 = CpuTask(warning_percentage2)
@@ -64,9 +88,30 @@ def test_warn(self):
 
         # Check for at least 1 CPU Load Average and 1 CPU Load
         self.assertGreaterEqual(len(stat2.values), 2)
-        # time.sleep(0.25)
 
-    # def test_updater(self):
+    def test_updater(self):
+        # In this case is recommended for accuracy that psutil.cpu_percent()
+        # function be called with at least 0.1 seconds between calls.
+        time.sleep(0.1)
+
+        self.message_recieved = False
+
+        node = Node('cpu_monitor_test')
+        updater = Updater(node)
+        updater.setHardwareID("test_id")
+        updater.add(CpuTask())
+
+        node.create_subscription(DiagnosticArray, '/diagnostics', self.diagnostics_callback, 10)
+
+        start_time = time.time()
+        timeout = 5.0  # Timeout in seconds
+
+        while not self.message_recieved:
+            rclpy.spin_once(node)
+            time.sleep(0.1)
+            elapsed_time = time.time() - start_time
+            if elapsed_time >= timeout:
+                self.fail("No diagnostics received")
 
 
 if __name__ == "__main__":