From 6b66ff45f28a7236732fb1165765997124ac757e Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 19 Dec 2023 21:49:26 +0900
Subject: [PATCH] Add test using fakeit

---
 CMakeLists.txt                                | 20 +++++++++++--
 .../rt_usb_9axisimu.hpp                       | 14 ++++++++-
 .../rt_usb_9axisimu_driver.hpp                |  4 +--
 src/rt_usb_9axisimu_driver.cpp                |  2 +-
 test/test_driver.cpp                          | 30 +++++++++++++++++++
 5 files changed, 64 insertions(+), 6 deletions(-)
 create mode 100644 test/test_driver.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2711b4c..2db4440 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -82,9 +82,25 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
-#if(BUILD_TESTING)
+if(BUILD_TESTING)
 #  find_package(ament_lint_auto REQUIRED)
 #  ament_lint_auto_find_test_dependencies()
-#endif()
+  Set(FETCHCONTENT_QUIET FALSE)
+  include(FetchContent)
+  FetchContent_Declare(
+    fakeit
+    GIT_REPOSITORY https://github.com/eranpeer/FakeIt
+    GIT_TAG 2.4.0
+    GIT_PROGRESS TRUE)
+  FetchContent_MakeAvailable(fakeit)
+
+  find_package(ament_cmake_gtest)
+  ament_add_gtest(test_driver test/test_driver.cpp src/rt_usb_9axisimu_driver.cpp)
+  target_include_directories(test_driver PRIVATE ${fakeit_SOURCE_DIR}/single_header/gtest)
+  ament_target_dependencies(test_driver
+    rclcpp
+    sensor_msgs
+  )
+endif()
 
 ament_package()
\ No newline at end of file
diff --git a/include/rt_usb_9axisimu_driver/rt_usb_9axisimu.hpp b/include/rt_usb_9axisimu_driver/rt_usb_9axisimu.hpp
index 35970f1..2f17a11 100644
--- a/include/rt_usb_9axisimu_driver/rt_usb_9axisimu.hpp
+++ b/include/rt_usb_9axisimu_driver/rt_usb_9axisimu.hpp
@@ -165,7 +165,19 @@ class Consts
  *
  **********************************************************************************************************/
 
-class SerialPort
+class SerialPortInterface
+{
+public:
+  virtual ~SerialPortInterface() {}
+  virtual void setPort(const char * port) = 0;
+  virtual bool openPort(const char * port) = 0;
+  virtual bool openSerialPort() = 0;
+  virtual void closeSerialPort() = 0;
+  virtual int readFromDevice(unsigned char * buf, unsigned int buf_len) = 0;
+  virtual int writeToDevice(unsigned char * data, unsigned int data_len) = 0;
+};
+
+class SerialPort : public SerialPortInterface
 {
 private:
   std::string port_name_;  // ex) "/dev/ttyACM0"
diff --git a/include/rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp b/include/rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp
index 28ceea1..ef76fa6 100644
--- a/include/rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp
+++ b/include/rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp
@@ -47,7 +47,7 @@
 class RtUsb9axisimuRosDriver
 {
 private:
-  std::unique_ptr<rt_usb_9axisimu::SerialPort> serial_port_;
+  std::unique_ptr<rt_usb_9axisimu::SerialPortInterface> serial_port_;
 
   rt_usb_9axisimu::SensorData sensor_data_;
 
@@ -81,7 +81,7 @@ class RtUsb9axisimuRosDriver
 
 public:
   explicit RtUsb9axisimuRosDriver(std::string serialport);
-  RtUsb9axisimuRosDriver(std::unique_ptr<rt_usb_9axisimu::SerialPort> serial_port, std::string port_name);
+  RtUsb9axisimuRosDriver(std::unique_ptr<rt_usb_9axisimu::SerialPortInterface> serial_port, std::string port_name);
   ~RtUsb9axisimuRosDriver();
 
   void setImuFrameIdName(std::string frame_id);
diff --git a/src/rt_usb_9axisimu_driver.cpp b/src/rt_usb_9axisimu_driver.cpp
index e81a2a2..7893936 100644
--- a/src/rt_usb_9axisimu_driver.cpp
+++ b/src/rt_usb_9axisimu_driver.cpp
@@ -212,7 +212,7 @@ RtUsb9axisimuRosDriver::RtUsb9axisimuRosDriver(std::string port = "")
   has_refreshed_imu_data_ = false;
 }
 
-RtUsb9axisimuRosDriver::RtUsb9axisimuRosDriver(std::unique_ptr<rt_usb_9axisimu::SerialPort> serial_port, std::string port_name)
+RtUsb9axisimuRosDriver::RtUsb9axisimuRosDriver(std::unique_ptr<rt_usb_9axisimu::SerialPortInterface> serial_port, std::string port_name)
 {
   serial_port_ = std::move(serial_port);
   serial_port_->setPort(port_name.c_str());
diff --git a/test/test_driver.cpp b/test/test_driver.cpp
new file mode 100644
index 0000000..cc193b1
--- /dev/null
+++ b/test/test_driver.cpp
@@ -0,0 +1,30 @@
+
+#include <gtest/gtest.h>
+#include "rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp"
+#include "rt_usb_9axisimu_driver/rt_usb_9axisimu.hpp"
+
+#include "fakeit.hpp"
+using namespace fakeit;
+using namespace rt_usb_9axisimu;
+
+TEST(TestDriver, startCommunication)
+{
+  // Mock settings
+  // TODO(ShotAk): Use test fixture
+  Mock<SerialPortInterface> mock;
+  When(Method(mock, setPort).Using(Any())).AlwaysReturn();
+  When(Method(mock, openPort)).Return(true);
+  When(Method(mock, openSerialPort)).Return(true);
+  When(Method(mock, closeSerialPort));
+  When(Method(mock, readFromDevice)).AlwaysReturn(0);
+  When(Method(mock, writeToDevice)).AlwaysReturn(0);
+
+  // Set mock method for this test
+  When(Method(mock, openSerialPort)).Return(true, false);
+
+  std::unique_ptr<SerialPortInterface> mock_ptr(&mock.get());
+  RtUsb9axisimuRosDriver driver(std::move(mock_ptr), "/dev/ttyUSB0");
+
+  EXPECT_EQ(driver.startCommunication(), true);
+  EXPECT_EQ(driver.startCommunication(), false);
+}