From bff6eb2046e5fb2c227d08c998d97cfe24a77ee3 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Tue, 13 Sep 2022 16:11:06 +0900
Subject: [PATCH] add test to check float/double serialization/deserialization
 see https://github.com/jsk-ros-pkg/jsk_roseus/pull/721

---
 roseus/CMakeLists.txt                |  2 ++
 roseus/test/pub-double.l             | 20 ++++++++++++++
 roseus/test/pub-float.l              | 20 ++++++++++++++
 roseus/test/test-pub-sub-double.test |  4 +++
 roseus/test/test-pub-sub-float.test  |  4 +++
 roseus/test/test-sub-double.l        | 41 ++++++++++++++++++++++++++++
 roseus/test/test-sub-float.l         | 41 ++++++++++++++++++++++++++++
 7 files changed, 132 insertions(+)
 create mode 100644 roseus/test/pub-double.l
 create mode 100644 roseus/test/pub-float.l
 create mode 100644 roseus/test/test-pub-sub-double.test
 create mode 100644 roseus/test/test-pub-sub-float.test
 create mode 100755 roseus/test/test-sub-double.l
 create mode 100755 roseus/test/test-sub-float.l

diff --git a/roseus/CMakeLists.txt b/roseus/CMakeLists.txt
index e732689e3..ae4663050 100644
--- a/roseus/CMakeLists.txt
+++ b/roseus/CMakeLists.txt
@@ -177,6 +177,8 @@ if(CATKIN_ENABLE_TESTING)
   set_target_properties(simple_execute_ref_server PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
   add_rostest(test/test-talker-listener.test)
   add_rostest(test/test-talker-listener-private-topic.test)
+  add_rostest(test/test-pub-sub-float.test)
+  add_rostest(test/test-pub-sub-double.test)
   add_rostest(test/test-add-two-ints.test)
   add_rostest(test/test-add-two-ints-server.test)
   add_rostest(test/test-add-two-ints-server-groupname.test)
diff --git a/roseus/test/pub-double.l b/roseus/test/pub-double.l
new file mode 100644
index 000000000..1ab60303c
--- /dev/null
+++ b/roseus/test/pub-double.l
@@ -0,0 +1,20 @@
+#!/usr/bin/env roseus
+;;;
+;;;
+(ros::load-ros-manifest "roseus")
+
+(ros::roseus "pub_double")
+(ros::advertise "double" std_msgs::float64 1)
+(ros::rate 10)
+(setq f 123456.654321)
+(while (ros::ok)
+  (setq msg (instance std_msgs::float64 :init))
+  (send msg :data f)
+  (warning-message 3 "publish msg [~8,8f]~%" (send msg :data))
+  (ros::publish "double" msg)
+  (ros::sleep)
+  (setq f (* f 2))
+  )
+(ros::roseus "shutdown")
+(exit)
+
diff --git a/roseus/test/pub-float.l b/roseus/test/pub-float.l
new file mode 100644
index 000000000..4ef133b53
--- /dev/null
+++ b/roseus/test/pub-float.l
@@ -0,0 +1,20 @@
+#!/usr/bin/env roseus
+;;;
+;;;
+(ros::load-ros-manifest "roseus")
+
+(ros::roseus "pub_float")
+(ros::advertise "float" std_msgs::float32 1)
+(ros::rate 10)
+(setq f 123.321)
+(while (ros::ok)
+  (setq msg (instance std_msgs::float32 :init))
+  (send msg :data f)
+  (warning-message 3 "publish msg [~8,8f]~%" (send msg :data))
+  (ros::publish "float" msg)
+  (ros::sleep)
+  (setq f (* f 2))
+  )
+(ros::roseus "shutdown")
+(exit)
+
diff --git a/roseus/test/test-pub-sub-double.test b/roseus/test/test-pub-sub-double.test
new file mode 100644
index 000000000..40451a094
--- /dev/null
+++ b/roseus/test/test-pub-sub-double.test
@@ -0,0 +1,4 @@
+<launch>
+  <node name="pub_double" pkg="roseus" type="roseus" args="$(find roseus)/test/pub-double.l" />
+  <test test-name="sub_double" pkg="roseus" type="roseus" args="$(find roseus)/test/test-sub-double.l" />
+</launch>
diff --git a/roseus/test/test-pub-sub-float.test b/roseus/test/test-pub-sub-float.test
new file mode 100644
index 000000000..5014114f9
--- /dev/null
+++ b/roseus/test/test-pub-sub-float.test
@@ -0,0 +1,4 @@
+<launch>
+  <node name="pub_float" pkg="roseus" type="roseus" args="$(find roseus)/test/pub-float.l" />
+  <test test-name="sub_float" pkg="roseus" type="roseus" args="$(find roseus)/test/test-sub-float.l" />
+</launch>
diff --git a/roseus/test/test-sub-double.l b/roseus/test/test-sub-double.l
new file mode 100755
index 000000000..32f16930d
--- /dev/null
+++ b/roseus/test/test-sub-double.l
@@ -0,0 +1,41 @@
+#!/usr/bin/env roseus
+;;;
+;;;
+(ros::load-ros-manifest "roseus")
+(require :unittest "lib/llib/unittest.l")
+
+(init-unit-test)
+
+
+(ros::roseus "sub_double")
+;; method call
+(defclass double-cb-class
+  :super propertied-object
+  :slots (count prev-msg))
+(defmethod double-cb-class
+  (:init
+   ()
+   (setq count 0)
+   (setq prev-msg nil)
+   (ros::subscribe "double" std_msgs::float64 #'send self :double-cb))
+  (:double-cb
+   (msg)
+   (warning-message 2 "subscribe msg [~8,8f], ~A times bigger than previous data~%" (send msg :data) (if prev-msg (/ (send msg :data) (send prev-msg :data))))
+   (when prev-msg
+     (assert (eps= (/ (send msg :data) (send prev-msg :data)) 2.0))
+     )
+   (incf count)
+   (setq prev-msg msg)
+   )
+  (:count () count)
+  )
+
+(deftest test-sub-double ()
+  (setq m (instance double-cb-class :init))
+
+  (while (< (send m :count) 10)
+    (ros::spin-once)
+    ))
+
+(run-all-tests)
+(exit)
diff --git a/roseus/test/test-sub-float.l b/roseus/test/test-sub-float.l
new file mode 100755
index 000000000..b930ac01a
--- /dev/null
+++ b/roseus/test/test-sub-float.l
@@ -0,0 +1,41 @@
+#!/usr/bin/env roseus
+;;;
+;;;
+(ros::load-ros-manifest "roseus")
+(require :unittest "lib/llib/unittest.l")
+
+(init-unit-test)
+
+
+(ros::roseus "sub_float")
+;; method call
+(defclass float-cb-class
+  :super propertied-object
+  :slots (count prev-msg))
+(defmethod float-cb-class
+  (:init
+   ()
+   (setq count 0)
+   (setq prev-msg nil)
+   (ros::subscribe "float" std_msgs::float32 #'send self :float-cb))
+  (:float-cb
+   (msg)
+   (warning-message 2 "subscribe msg [~8,8f], ~A times bigger than previous data~%" (send msg :data) (if prev-msg (/ (send msg :data) (send prev-msg :data))))
+   (when prev-msg
+     (assert (eps= (/ (send msg :data) (send prev-msg :data)) 2.0))
+     )
+   (incf count)
+   (setq prev-msg msg)
+   )
+  (:count () count)
+  )
+
+(deftest test-sub-float ()
+  (setq m (instance float-cb-class :init))
+
+  (while (< (send m :count) 10)
+    (ros::spin-once)
+    ))
+
+(run-all-tests)
+(exit)