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// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 2021 by Apex.AI Inc. All rights reserved.
//
// 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.
//
// SPDX-License-Identifier: Apache-2.0
#include "helpers/fixture_dds_gateway.hpp"
#include "iceoryx_dds/gateway/dds_to_iox.hpp"
#include "iceoryx_posh/gateway/channel.hpp"
#include "mocks/google_mocks.hpp"
#include "test.hpp"
namespace
{
using namespace ::testing;
using ::testing::_;
// ======================================== Helpers ======================================== //
using TestChannel = iox::gw::Channel<MockPublisher, MockDataReader>;
using TestGateway =
iox::dds::DDS2IceoryxGateway<TestChannel, MockGenericGateway<TestChannel, iox::popo::PublisherOptions>>;
// ======================================== Fixture ======================================== //
class DDS2IceoryxGatewayTest : public DDSGatewayTestFixture<MockPublisher, MockDataReader>
{
};
// ======================================== Tests ======================================== //
TEST_F(DDS2IceoryxGatewayTest, ChannelsAreCreatedForConfiguredServices)
{
::testing::Test::RecordProperty("TEST_ID", "8c439c96-4777-47a2-aebf-a01898b39c1d");
// === Setup
auto testService = iox::capro::ServiceDescription({"Radar", "Front-Right", "Reflections"});
iox::config::GatewayConfig config{};
config.m_configuredServices.push_back(iox::config::GatewayConfig::ServiceEntry{testService});
TestGateway gw{};
EXPECT_CALL(gw, findChannel).WillOnce(Return(iox::cxx::nullopt_t()));
EXPECT_CALL(gw, addChannel(testService, _))
.WillOnce(Return(channelFactory(testService, iox::popo::PublisherOptions())));
// === Test
gw.loadConfiguration(config);
}
TEST_F(DDS2IceoryxGatewayTest, ImmediatelyOffersConfiguredPublishers)
{
::testing::Test::RecordProperty("TEST_ID", "e51ff9c2-d5cf-45eb-bc04-78973d99d9e5");
// === Setup
auto testService = iox::capro::ServiceDescription({"Radar", "Front-Right", "Reflections"});
iox::config::GatewayConfig config{};
config.m_configuredServices.push_back(iox::config::GatewayConfig::ServiceEntry{testService});
auto mockPublisher = createMockIceoryxTerminal(testService, iox::popo::PublisherOptions());
EXPECT_CALL(*mockPublisher, offer).Times(1);
stageMockIceoryxTerminal(std::move(mockPublisher));
TestGateway gw{};
ON_CALL(gw, findChannel).WillByDefault(Return(iox::cxx::nullopt_t()));
ON_CALL(gw, addChannel(testService, _))
.WillByDefault(Return(channelFactory(testService, iox::popo::PublisherOptions())));
// === Test
gw.loadConfiguration(config);
}
TEST_F(DDS2IceoryxGatewayTest, ImmediatelyConnectsConfiguredDataReaders)
{
::testing::Test::RecordProperty("TEST_ID", "edbfd533-90aa-417c-9a39-3e7ab7ed15fb");
// === Setup
auto testService = iox::capro::ServiceDescription({"Radar", "Front-Right", "Reflections"});
iox::config::GatewayConfig config{};
config.m_configuredServices.push_back(iox::config::GatewayConfig::ServiceEntry{testService});
auto mockDataReader = createMockDDSTerminal(testService);
EXPECT_CALL(*mockDataReader, connect).Times(1);
stageMockDDSTerminal(std::move(mockDataReader));
TestGateway gw{};
ON_CALL(gw, findChannel).WillByDefault(Return(iox::cxx::nullopt_t()));
ON_CALL(gw, addChannel(testService, _))
.WillByDefault(Return(channelFactory(testService, iox::popo::PublisherOptions())));
// === Test
gw.loadConfiguration(config);
}
/// @ todo #376
#if 0
TEST_F(DDS2IceoryxGatewayTest, PublishesMemoryChunksContainingSamplesToNetwork)
{
::testing::Test::RecordProperty("TEST_ID", "1024b7c2-c2ed-4371-a1df-5990dc913a97");
// === Setup
auto testService = iox::capro::ServiceDescription({"Radar", "Front-Right", "Reflections"});
// Setup data reader to provide a sample
auto mockDataReader = createMockDDSTerminal(testService);
auto mockPublisher = createMockIceoryxTerminal(testService);
ON_CALL(*mockDataReader, peekNextSize)
.WillByDefault(Return(ByMove(iox::cxx::make_optional<uint64_t>(static_cast<uint64_t>(8u)))));
ON_CALL(*mockDataReader, takeNext).WillByDefault(Return(ByMove(iox::cxx::success<>())));
EXPECT_CALL(*mockPublisher, sendChunk).Times(1);
stageMockDDSTerminal(std::move(mockDataReader));
stageMockIceoryxTerminal(std::move(mockPublisher));
TestGateway gw{};
// === Test
auto testChannel = channelFactory(testService, iox::popo::PublisherOptions()).value();
gw.forward(testChannel);
}
#endif
} // namespace
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