Fix typos, documentation links, Int64 handling and add test

Author: lreiher

README.md

@@ -339,7 +339,7 @@ bridge:
 
 As seen in the [Quick Start](#quick-start), the *mqtt_client* can not only exchange arbitrary ROS messages with other *mqtt_clients*, but it can also exchange primitive message data with other non-*mqtt_client* MQTT clients. This allows ROS-based devices to exchange primitive messages with devices not based on ROS. The `primitive` parameter can be set for both ROS-to-MQTT (`bridge/ros2mqtt`) and for MQTT-to-ROS (`bridge/mqtt2ros`) transmissions.
 
-If a ROS-to-MQTT transmission is configured as `primitive` and the ROS message type is one of the supported primitive ROS message types, the raw data is published as a string. The supported primitive ROS message types are [`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html), [`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html), [`std_msgs/Char`](http://docs.ros.org/en/api/std_msgs/html/msg/Char.html), [`std_msgs/UInt8`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt8.html), [`std_msgs/UInt16`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/UInt32`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt32.html), [`std_msgs/UInt64`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/Int8`](http://docs.ros.org/en/api/std_msgs/html/msg/Int8.html), [`std_msgs/Int16`](http://docs.ros.org/en/api/std_msgs/html/msg/Int16.html), [`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html), [`std_msgs/Int64`](http://docs.ros.org/en/api/std_msgs/html/msg/Int64.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html).
+If a ROS-to-MQTT transmission is configured as `primitive` and the ROS message type is one of the supported primitive ROS message types, the raw data is published as a string. The supported primitive ROS message types are [`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html), [`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html), [`std_msgs/Char`](http://docs.ros.org/en/api/std_msgs/html/msg/Char.html), [`std_msgs/UInt8`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt8.html), [`std_msgs/UInt16`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/UInt32`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt32.html), [`std_msgs/UInt64`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt64.html), [`std_msgs/Int8`](http://docs.ros.org/en/api/std_msgs/html/msg/Int8.html), [`std_msgs/Int16`](http://docs.ros.org/en/api/std_msgs/html/msg/Int16.html), [`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html), [`std_msgs/Int64`](http://docs.ros.org/en/api/std_msgs/html/msg/Int64.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html), [`std_msgs/Float64`](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html).
 
 If an MQTT-to-ROS transmission is configured as `primitive`, the MQTT message is interpreted and published as a primitive data type, if possible. The message is probed in the following order: `bool` ([`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html)), `int` ([`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html)), `float` ([`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html)), `string` ([`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html)).
 

mqtt_client/CMakeLists.txt

@@ -69,17 +69,15 @@ if(${ROS_VERSION} EQUAL 2)
     FILES_MATCHING PATTERN "*ros2*"
   )
 
-  # if(BUILD_TESTING)
-  #   find_package(ament_lint_auto REQUIRED)
-  #   # the following line skips the linter which checks for copyrights
-  #   # comment the line when a copyright and license is added to all source files
-  #   set(ament_cmake_copyright_FOUND TRUE)
-  #   # the following line skips cpplint (only works in a git repo)
-  #   # comment the line when this package is in a git repo and when
-  #   # a copyright and license is added to all source files
-  #   set(ament_cmake_cpplint_FOUND TRUE)
-  #   ament_lint_auto_find_test_dependencies()
-  # endif()
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    set(ament_cmake_cpplint_FOUND TRUE)
+    ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(test_fixed_primitive test/test_fixed_primitive.cpp)
+    target_link_libraries(test_fixed_primitive ${PROJECT_NAME}_lib)
+  endif()
 
   ament_package()
 

mqtt_client/include/mqtt_client/MqttClient.ros2.hpp

@@ -199,7 +199,7 @@ class MqttClient : public rclcpp::Node,
      const Ros2MqttInterface& ros2mqtt) const;
 
   /**
-   * @brief Get the candiate topic endpoints for subscription matching
+   * @brief Get the candidate topic endpoints for subscription matching
    *
    * @param ros2mqtt the ROS to MQTT interface spec
    *

mqtt_client/src/MqttClient.ros2.cpp

@@ -67,8 +67,8 @@ T mqtt2float(mqtt::const_message_ptr mqtt_msg) {
   std::size_t pos;
   const T v = std::stold(str_msg, &pos);
 
-  if (pos != str_msg.size())
-    throw std::invalid_argument ("not all charaters processed");
+  if (pos != str_msg.size())
+    throw std::invalid_argument ("not all characters processed");
 
   return v;
 }
@@ -79,8 +79,8 @@ T mqtt2int(mqtt::const_message_ptr mqtt_msg) {
   std::size_t pos;
   const T v = std::stoll(str_msg, &pos);
 
-  if (pos != str_msg.size())
-    throw std::invalid_argument ("not all charaters processed");
+  if (pos != str_msg.size())
+    throw std::invalid_argument ("not all characters processed");
 
   return v;
 }
@@ -150,9 +150,9 @@ bool fixedMqtt2PrimitiveRos(mqtt::const_message_ptr mqtt_msg,
       msg.data = mqtt2int<int32_t>(mqtt_msg);
 
       serializeRosMessage(msg, serialized_msg);
-    } else if (msg_type == "std_msgs/msg/Int64") {
-      std_msgs::msg::Int32 msg;
-      msg.data = mqtt2int<int32_t>(mqtt_msg);
+    } else if (msg_type == "std_msgs/msg/Int64") {
+      std_msgs::msg::Int64 msg;
+      msg.data = mqtt2int<int64_t>(mqtt_msg);
 
       serializeRosMessage(msg, serialized_msg);
     } else if (msg_type == "std_msgs/msg/Float32") {

mqtt_client/test/test_fixed_primitive.cpp

@@ -0,0 +1,28 @@
+#include <gtest/gtest.h>
+#include <mqtt/message.h>
+#include <std_msgs/msg/int64.hpp>
+#include <rclcpp/serialized_message.hpp>
+#include "mqtt_client/MqttClient.ros2.hpp"
+
+namespace mqtt_client {
+// forward declaration of function under test
+bool fixedMqtt2PrimitiveRos(mqtt::const_message_ptr mqtt_msg,
+                            const std::string& msg_type,
+                            rclcpp::SerializedMessage &serialized_msg);
+}
+
+TEST(FixedMqtt2PrimitiveRos, Int64Conversion) {
+  auto mqtt_msg = mqtt::make_message("test", "42");
+  rclcpp::SerializedMessage serialized;
+  ASSERT_TRUE(mqtt_client::fixedMqtt2PrimitiveRos(mqtt_msg,
+                                                  "std_msgs/msg/Int64",
+                                                  serialized));
+  std_msgs::msg::Int64 out;
+  mqtt_client::deserializeRosMessage(serialized, out);
+  EXPECT_EQ(out.data, 42);
+}
+
+int main(int argc, char **argv) {
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}