Added support for KeyedString.

Signed-off-by: Miguel Company <[email protected]>

Author: MiguelCompany

test_communication/CMakeLists.txt

@@ -397,6 +397,7 @@ if(BUILD_TESTING)
   add_library(subscribe_types STATIC
     "test/subscribe_array_types.cpp"
     "test/subscribe_basic_types.cpp"
+    "test/subscribe_key_types.cpp"
     "test/subscribe_string_types.cpp")
   target_link_libraries(subscribe_types
     rclcpp::rclcpp

test_communication/test/subscribe_key_types.cpp

@@ -0,0 +1,32 @@
+// Copyright 2015 Open Source Robotics Foundation, 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 <string>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/keyed_string.hpp"
+
+#include "subscribe_helper.hpp"
+#include "subscribe_key_types.hpp"
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_keyed_string(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::KeyedString::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages)
+{
+  return subscribe<test_msgs::msg::KeyedString>(
+    node, message_type, expected_messages, received_messages);
+}

test_communication/test/subscribe_key_types.hpp

@@ -0,0 +1,30 @@
+// Copyright 2015 Open Source Robotics Foundation, 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.
+
+#ifndef SUBSCRIBE_KEY_TYPES_HPP_
+#define SUBSCRIBE_KEY_TYPES_HPP_
+
+#include <string>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/keyed_string.hpp"
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_keyed_string(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::KeyedString::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages);
+
+#endif  // SUBSCRIBE_KEY_TYPES_HPP_

test_communication/test/test_publisher.cpp

@@ -107,6 +107,8 @@ int main(int argc, char ** argv)
     publish<test_msgs::msg::Strings>(node, message, get_messages_strings());
   } else if (message == "WStrings") {
     publish<test_msgs::msg::WStrings>(node, message, get_messages_wstrings());
+  } else if (message == "KeyedString") {
+    publish<test_msgs::msg::KeyedString>(node, message, get_messages_keyed_string());
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();

test_communication/test/test_publisher_subscriber.cpp

@@ -25,6 +25,7 @@
 
 #include "subscribe_array_types.hpp"
 #include "subscribe_basic_types.hpp"
+#include "subscribe_key_types.hpp"
 #include "subscribe_string_types.hpp"
 
 template<typename T>
@@ -98,6 +99,7 @@ int main(int argc, char ** argv)
   auto messages_defaults = get_messages_defaults();
   auto messages_strings = get_messages_strings();
   auto messages_wstrings = get_messages_wstrings();
+  auto messages_keyed_string = get_messages_keyed_string();
 
   std::thread spin_thread([node]() {
       rclcpp::spin(node);
@@ -148,6 +150,9 @@ int main(int argc, char ** argv)
   } else if (message == "WStrings") {
     subscriber = subscribe_wstrings(node, message, messages_wstrings, received_messages);
     publish<test_msgs::msg::WStrings>(node, message, messages_wstrings);
+  } else if (message == "KeyedString") {
+    subscriber = subscribe_keyed_string(node, message, messages_keyed_string, received_messages);
+    publish<test_msgs::msg::KeyedString>(node, message, messages_keyed_string);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     return 1;

test_communication/test/test_subscriber.cpp

@@ -23,6 +23,7 @@
 
 #include "subscribe_array_types.hpp"
 #include "subscribe_basic_types.hpp"
+#include "subscribe_key_types.hpp"
 #include "subscribe_string_types.hpp"
 
 int main(int argc, char ** argv)
@@ -53,6 +54,7 @@ int main(int argc, char ** argv)
   auto messages_defaults = get_messages_defaults();
   auto messages_strings = get_messages_strings();
   auto messages_wstrings = get_messages_wstrings();
+  auto messages_keyed_string = get_messages_keyed_string();
 
   rclcpp::SubscriptionBase::SharedPtr subscriber;
   std::vector<bool> received_messages;  // collect flags about received messages
@@ -85,6 +87,8 @@ int main(int argc, char ** argv)
     subscriber = subscribe_strings(node, message, messages_strings, received_messages);
   } else if (message == "WStrings") {
     subscriber = subscribe_wstrings(node, message, messages_wstrings, received_messages);
+  } else if (message == "KeyedString") {
+    subscriber = subscribe_keyed_string(node, message, messages_keyed_string, received_messages);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();