Corey Onboarding

10_Examples/corey-onboarding/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(corey-onboarding)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ament_cmake_gtest REQUIRED)
+
+ament_add_gtest(bankmaincode
+  test/banktest.cpp
+)
+
+add_executable(publisher_node src/publisher.cpp)
+ament_target_dependencies(publisher_node rclcpp std_msgs)
+
+add_executable(subscriber_node src/subscriber.cpp)
+ament_target_dependencies(subscriber_node rclcpp std_msgs)
+
+ament_add_gtest(test_person test_person.cpp)
+target_link_libraries(test_person ${GTEST_INCLUDE_DIRS} pthread)
+
+add_executable(hello_world src/helloworld.cpp)
+install(TARGETS
+  hello_world
+  publisher_node
+  subscriber_node
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

10_Examples/corey-onboarding/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>corey-onboarding</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">corey</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

10_Examples/corey-onboarding/src/bankheader.h

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+#include <iostream>
+#include <string>
+
+using namespace std;
+
+class BankAccount
+{
+
+public:
+
+    string name;    //Variable
+
+    int balance;    //Variable
+
+    void withdraw(int amount);   //my method
+
+    void print();    //my method
+
+    BankAccount(string AccountName, int AccountBalance); // declare constructor
+
+};
+
+

10_Examples/corey-onboarding/src/bankmain.cpp

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+#include <iostream>
+#include <string>
+#include "bankheader.h"
+
+using namespace std;
+
+BankAccount::BankAccount(string AccountName, int AccountBalance)
+{
+
+    name = AccountName;
+    balance = AccountBalance;
+
+}
+
+void BankAccount::withdraw(int amount)
+{
+    balance = balance - amount;
+}
+
+void BankAccount::print()
+{
+    cout << name << " has " << "a balance of " << balance << endl;
+}
+
+
+// int main ()
+// {
+//     BankAccount account1("kelly", 50000);
+//     account1.print();
+//     account1.withdraw(2356);
+//     account1.print();
+
+//     return 0;
+// }
+//^ commented out to run the gtest

10_Examples/corey-onboarding/src/helloworld.cpp

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+#include <iostream>
+
+int main(int argc, char ** argv)
+{
+  std::cout << "Hello World!" << std::endl;
+  return 0;
+}

10_Examples/corey-onboarding/src/publisher.cpp

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+#include <chrono>
+#include <string>
+#include <memory>
+#include <functional>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+class SimplePublisher : public rclcpp::Node
+{
+public:
+  SimplePublisher()
+  : Node("publisher_node")
+  {
+    CounterValue = 0;
+
+    publisherObject = this->create_publisher<std_msgs::msg::String>("communication_topic", 20);
+
+    timerObject = this->create_wall_timer(
+      1000ms, std::bind(
+        &SimplePublisher::callbackFunction,
+        this));
+  }
+
+private:
+  void callbackFunction()
+  {
+    CounterValue++;
+    auto message = std_msgs::msg::String();
+    message.data = "Message Number: " + std::to_string(CounterValue);
+
+    RCLCPP_INFO(this->get_logger(), "Publishing message: '%s'", message.data.c_str());
+    publisherObject->publish(message);
+  }
+
+  rclcpp::TimerBase::SharedPtr timerObject;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisherObject;
+  int CounterValue;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<SimplePublisher>());
+  rclcpp::shutdown();
+  return 0;
+}

10_Examples/corey-onboarding/src/subscriber.cpp

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+#include <chrono>
+#include <string>
+#include <memory>
+#include <functional>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using std::placeholders::_1;
+
+class SimpleSubscriber : public rclcpp::Node
+{
+public:
+  SimpleSubscriber()
+  : Node("subscriber_node")
+  {
+    subscriberObject = this->create_subscription<std_msgs::msg::String>(
+      "communication_topic", 10, std::bind(&SimpleSubscriber::callbackFunction, this, _1));
+  }
+
+private:
+  void callbackFunction(const std_msgs::msg::String & msg) const
+  {
+    RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str());
+  }
+
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriberObject;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<SimpleSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}

10_Examples/corey-onboarding/test/banktest.cpp

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+#include "bankheader.h"
+#include "gtest/gtest.h"
+
+class BankAccountTest : public ::testing::Test
+
+{
+protected:
+    BankAccountTest()
+    {
+        bankmaincode = std::make_shared<BankAccount>("kelly", 50000);
+    }
+
+    void SetUp() override
+    {
+    }
+
+    void TearDown() override
+    {
+    }
+    std::shared_ptr<BankAccount> bankmaincode;
+
+};
+
+TEST_F(BankAccountTest, testWithdrawMoney)
+{
+    bankmaincode->withdraw(20000);
+    EXPECT_EQ(bankmaincode->balance, 30000);
+    EXPECT_TRUE(bankmaincode->balance == 30000);
+    EXPECT_FALSE(bankmaincode->balance == 35000);
+}
+
+TEST_F(BankAccountTest, testPrint)
+{
+    testing::internal::CaptureStdout();
+    bankmaincode->print();
+    std::string output = testing::internal::GetCapturedStdout();
+    EXPECT_STREQ(output.c_str(), "kelly has a balance of 50000\n");
+}
+
+int main(int argc, char ** argv)
+{
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}