add test for internal messaging

SyllogismRXS · Jul 24, 2018 · c9eb7c9 · c9eb7c9
1 parent b916e9f
commit c9eb7c9
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Showing 6 changed files with 97 additions and 25 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -267,6 +267,7 @@ add_dependencies(entity scrimmage_ros_generate_messages_cpp)
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
   test/test_auction.launch
+  test/test_auction2.launch
   # myfile2
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
@@ -288,4 +289,7 @@ if(CATKIN_ENABLE_TESTING)
 
     add_rostest_gtest(test_auction test/test_auction.launch test/test_auction.cpp)
     target_link_libraries(test_auction ${catkin_LIBRARIES} scrimmage-core scrimmage-python gtest_main)
+
+    add_rostest_gtest(test_auction2 test/test_auction2.launch test/test_auction.cpp)
+    target_link_libraries(test_auction2 ${catkin_LIBRARIES} scrimmage-core scrimmage-python gtest_main)
 endif() 
diff --git a/launch/auction.launch b/launch/auction.launch
@@ -7,6 +7,7 @@
         name="entity_1"
         type="auctioneer"
         output="screen">
+    <param name="wrap_all" value="true" type="bool"/>
     <param name="mission_file" value="$(arg mission_file)" type="str"/>
     <param name="max_contacts" value="$(arg max_contacts)" type="int"/>
     <param name="entity_name" value="agent" type="str"/>

diff --git a/src/auctioneer.cpp b/src/auctioneer.cpp
@@ -112,23 +112,39 @@ int main(int argc, char **argv) {
 
     const std::string network_name = "CommsNetwork";
 
-    ros::Publisher pub_start_auction =
-        nh.advertise<RosStartAuction>("StartAuction", 1000);
-    external.pub_cb<auction::StartAuction>(network_name, "StartAuction",
-                                         sc2ros_start_auction, pub_start_auction);
-
-    ros::Publisher pub_bid_auction =
-        nh.advertise<RosBidAuction>("BidAuction", 1000);
-    external.pub_cb<auction::BidAuction>(network_name, "BidAuction",
-                                         sc2ros_bid_auction, pub_bid_auction);
-
-    ros::Subscriber sub_start_auction = nh.subscribe("StartAuction", 1000,
-        external.sub_cb<RosStartAuction>(network_name, "StartAuction",
-                                         ros2sc_start_auction));
-
-    ros::Subscriber sub_bid_auction = nh.subscribe("BidAuction", 1000,
-        external.sub_cb<RosBidAuction>(network_name, "BidAuction",
-                                       ros2sc_bid_auction));
+    bool wrap_all;
+    private_nh.param("wrap_all", wrap_all, true);
+    std::cout << "wrap_all = " << wrap_all << std::endl;
+
+    ros::Publisher pub_start_auction;
+    ros::Publisher pub_bid_auction;
+    ros::Publisher pub_result_auction;
+
+    ros::Subscriber sub_start_auction;
+    ros::Subscriber sub_bid_auction;
+
+    if (wrap_all) {
+        pub_start_auction = nh.advertise<RosStartAuction>("StartAuction", 1000);
+        external.pub_cb<auction::StartAuction>(
+            network_name, "StartAuction", sc2ros_start_auction, pub_start_auction);
+
+        pub_bid_auction = nh.advertise<RosBidAuction>("BidAuction", 1000);
+        external.pub_cb<auction::BidAuction>(
+            network_name, "BidAuction", sc2ros_bid_auction, pub_bid_auction);
+
+        sub_start_auction = nh.subscribe("StartAuction", 1000,
+            external.sub_cb<RosStartAuction>(
+                network_name, "StartAuction", ros2sc_start_auction));
+
+        sub_bid_auction = nh.subscribe("BidAuction", 1000,
+            external.sub_cb<RosBidAuction>(
+                network_name, "BidAuction", ros2sc_bid_auction));
+    }
+
+    pub_result_auction = nh.advertise<RosBidAuction>("ResultAuction", 1000);
+    external.pub_cb<auction::BidAuction>(
+        network_name, "ResultAuction", sc2ros_bid_auction, pub_result_auction);
+
 
     const double loop_rate_hz = 10;
     const double startup_delay = 1;

diff --git a/test/test_auction.cpp b/test/test_auction.cpp
@@ -42,17 +42,31 @@ using scrimmage_ros::RosBidAuction;
 class AuctionTest : public testing::Test {
  protected:
     virtual void SetUp() {
+        ros::NodeHandle private_nh("~");
         ros::NodeHandle nh_;
         sub_start_ =
           nh_.subscribe("StartAuction", 20,
                 &AuctionTest::start_auction_callback, this);
         sub_bid_ =
           nh_.subscribe("BidAuction", 20,
                 &AuctionTest::bid_auction_callback, this);
+
+        sub_result_ =
+          nh_.subscribe("ResultAuction", 20,
+                &AuctionTest::result_auction_callback, this);
+
+        private_nh.param("num_bids", num_bids_, 5000);
+        private_nh.param("num_starts", num_starts_, 5000);
     }
 
+    int num_bids_ = 5000;
+    int num_starts_ = 5000;
+
     int start_hx_ct_ = 0;
     int bid_hx_ct_ = 0;
+    int winner_id_ = -1;
+
+    ros::Subscriber sub_result_;
     ros::Subscriber sub_start_;
     ros::Subscriber sub_bid_;
 
@@ -64,6 +78,10 @@ class AuctionTest : public testing::Test {
     void bid_auction_callback(const RosBidAuction::ConstPtr &/*msg*/) {
         bid_hx_ct_ += 1;
     }
+
+    void result_auction_callback(const RosBidAuction::ConstPtr &msg) {
+        winner_id_ = msg->sender_id;
+    }
 };
 
 TEST_F(AuctionTest, msg) {
@@ -72,13 +90,13 @@ TEST_F(AuctionTest, msg) {
     loop_rate.sleep();
     ros::spinOnce();
 
-    EXPECT_EQ(bid_hx_ct_, 2);
-    EXPECT_EQ(start_hx_ct_, 1);
+    EXPECT_EQ(bid_hx_ct_, num_bids_);
+    EXPECT_EQ(start_hx_ct_, num_starts_);
 }
 
 int main(int argc, char **argv) {
-  ::testing::InitGoogleTest(&argc, argv);
-  ros::init(argc, argv, "auction_test");
-  ros::start();
-  return RUN_ALL_TESTS();
+    ::testing::InitGoogleTest(&argc, argv);
+    ros::init(argc, argv, "auction_test");
+    ros::start();
+    return RUN_ALL_TESTS();
 }
diff --git a/test/test_auction.launch b/test/test_auction.launch
@@ -9,6 +9,7 @@
         output="screen">
 
     <param name="mission_file" value="$(arg mission_file)" type="str"/>
+    <param name="wrap_all" value="true" type="bool"/>
     <param name="max_contacts" value="$(arg max_contacts)" type="int"/>
     <param name="entity_name" value="agent" type="str"/>
     <param name="entity_id" value="1" type="int"/>    
@@ -19,14 +20,19 @@
         type="auctioneer"
         output="screen">
     <param name="mission_file" value="$(arg mission_file)" type="str"/>
+    <param name="wrap_all" value="true" type="bool"/>
     <param name="max_contacts" value="$(arg max_contacts)" type="int"/>
     <param name="entity_name" value="agent" type="str"/>
     <param name="entity_id" value="2" type="int"/>    
   </node>
 
   <test
-    test-name="test_auction"
+    test-name="test_auction2"
     pkg="scrimmage_ros"
-    type="test_auction" />
+    type="test_auction">
+
+    <param name="num_bids" value="2" type="int"/>
+    <param name="num_starts" value="1" type="int"/>
+  </test>
 
 </launch> 
diff --git a/test/test_auction2.launch b/test/test_auction2.launch
@@ -0,0 +1,27 @@
+<launch>
+
+  <arg name="mission_file" default="~/scrimmage/scrimmage/missions/auction_assign2.xml"/>  
+  <arg name="max_contacts" default="100"/>
+
+  <node pkg="scrimmage_ros" 
+        name="entity_1"
+        type="auctioneer"
+        output="screen">
+
+    <param name="mission_file" value="$(arg mission_file)" type="str"/>
+    <param name="wrap_all" value="false" type="bool"/>
+    <param name="max_contacts" value="$(arg max_contacts)" type="int"/>
+    <param name="entity_name" value="agent" type="str"/>
+    <param name="entity_id" value="1" type="int"/>    
+  </node>
+
+  <test
+    test-name="test_auction2"
+    pkg="scrimmage_ros"
+    type="test_auction">
+
+    <param name="num_bids" value="0" type="int"/>
+    <param name="num_starts" value="0" type="int"/>
+
+  </test>
+</launch>