Added support for ComplexNestedKey.

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

Author: MiguelCompany

test_communication/test/subscribe_key_types.cpp

@@ -41,3 +41,13 @@ rclcpp::SubscriptionBase::SharedPtr subscribe_non_keyed_with_nested_key(
   return subscribe<test_msgs::msg::NonKeyedWithNestedKey>(
     node, message_type, expected_messages, received_messages);
 }
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_complex_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::ComplexNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages)
+{
+  return subscribe<test_msgs::msg::ComplexNestedKey>(
+    node, message_type, expected_messages, received_messages);
+}

test_communication/test/subscribe_key_types.hpp

@@ -19,6 +19,7 @@
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/complex_nested_key.hpp"
 #include "test_msgs/msg/keyed_string.hpp"
 #include "test_msgs/msg/non_keyed_with_nested_key.hpp"
 
@@ -34,4 +35,10 @@ rclcpp::SubscriptionBase::SharedPtr subscribe_non_keyed_with_nested_key(
   const std::vector<test_msgs::msg::NonKeyedWithNestedKey::SharedPtr> & expected_messages,
   std::vector<bool> & received_messages);
 
+rclcpp::SubscriptionBase::SharedPtr subscribe_complex_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::ComplexNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages);
+
 #endif  // SUBSCRIBE_KEY_TYPES_HPP_

test_communication/test/test_publisher.cpp

@@ -112,6 +112,8 @@ int main(int argc, char ** argv)
   } else if (message == "NonKeyedWithNestedKey") {
     publish<test_msgs::msg::NonKeyedWithNestedKey>(
       node, message, get_messages_non_keyed_with_nested_key());
+  } else if (message == "ComplexNestedKey") {
+    publish<test_msgs::msg::ComplexNestedKey>(node, message, get_messages_complex_nested_key());
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();

test_communication/test/test_publisher_subscriber.cpp

@@ -101,6 +101,7 @@ int main(int argc, char ** argv)
   auto messages_wstrings = get_messages_wstrings();
   auto messages_keyed_string = get_messages_keyed_string();
   auto messages_non_keyed_with_nested_key = get_messages_non_keyed_with_nested_key();
+  auto messages_complex_nested_key = get_messages_complex_nested_key();
 
   std::thread spin_thread([node]() {
       rclcpp::spin(node);
@@ -159,6 +160,10 @@ int main(int argc, char ** argv)
       node, message, messages_non_keyed_with_nested_key, received_messages);
     publish<test_msgs::msg::NonKeyedWithNestedKey>(
       node, message, messages_non_keyed_with_nested_key);
+  } else if (message == "ComplexNestedKey") {
+    subscriber = subscribe_complex_nested_key(
+      node, message, messages_complex_nested_key, received_messages);
+    publish<test_msgs::msg::ComplexNestedKey>(node, message, messages_complex_nested_key);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     return 1;

test_communication/test/test_subscriber.cpp

@@ -56,6 +56,7 @@ int main(int argc, char ** argv)
   auto messages_wstrings = get_messages_wstrings();
   auto messages_keyed_string = get_messages_keyed_string();
   auto messages_non_keyed_with_nested_key = get_messages_non_keyed_with_nested_key();
+  auto messages_complex_nested_key = get_messages_complex_nested_key();
 
   rclcpp::SubscriptionBase::SharedPtr subscriber;
   std::vector<bool> received_messages;  // collect flags about received messages
@@ -93,6 +94,9 @@ int main(int argc, char ** argv)
   } else if (message == "NonKeyedWithNestedKey") {
     subscriber = subscribe_non_keyed_with_nested_key(
       node, message, messages_non_keyed_with_nested_key, received_messages);
+  } else if (message == "ComplexNestedKey") {
+    subscriber = subscribe_complex_nested_key(
+      node, message, messages_complex_nested_key, received_messages);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();