temp: includes #231, #232, #233, #234, #235

Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Nov 26, 2024 · ca6112b · ca6112b
1 parent e5857ab
commit ca6112b
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Showing 18 changed files with 1,110 additions and 116 deletions.
diff --git a/.cspell.json b/.cspell.json
@@ -33,6 +33,7 @@
     "nproc",
     "nsec",
     "ntoa",
+    "OVFL",
     "pandar",
     "PANDAR",
     "PANDARAT",

diff --git a/nebula_common/include/nebula_common/loggers/console_logger.hpp b/nebula_common/include/nebula_common/loggers/console_logger.hpp
@@ -18,10 +18,8 @@
 
 #include <cstdio>
 #include <iostream>
-#include <istream>
 #include <memory>
 #include <ostream>
-#include <sstream>
 #include <string>
 #include <utility>
 
@@ -33,20 +31,20 @@ class ConsoleLogger : public Logger
 public:
   explicit ConsoleLogger(std::string name) : name_(std::move(name)) {}
 
-  void debug(const std::string & message) override { printTagged(std::cout, "DEBUG", message); }
-  void info(const std::string & message) override { printTagged(std::cout, "INFO", message); }
-  void warn(const std::string & message) override { printTagged(std::cerr, "WARN", message); }
-  void error(const std::string & message) override { printTagged(std::cerr, "ERROR", message); }
+  void debug(const std::string & message) override { print_tagged(std::cout, "DEBUG", message); }
+  void info(const std::string & message) override { print_tagged(std::cout, "INFO", message); }
+  void warn(const std::string & message) override { print_tagged(std::cerr, "WARN", message); }
+  void error(const std::string & message) override { print_tagged(std::cerr, "ERROR", message); }
 
   std::shared_ptr<Logger> child(const std::string & name) override
   {
     return std::make_shared<ConsoleLogger>(name_ + "." + name);
   }
 
 private:
-  const std::string name_;
+  std::string name_;
 
-  void printTagged(std::ostream & os, const std::string & severity, const std::string & message)
+  void print_tagged(std::ostream & os, const std::string & severity, const std::string & message)
   {
     // In multithreaded logging, building the string first (... + ...) and then shifting to the
     // stream will ensure that no other logger outputs between string fragments

diff --git a/nebula_common/include/nebula_common/loggers/logger.hpp b/nebula_common/include/nebula_common/loggers/logger.hpp
@@ -18,10 +18,11 @@
 #include <sstream>
 #include <string>
 
-#define NEBULA_LOG_STREAM(log_func, stream_args)           \
-  {                                                        \
-    auto msg = (std::stringstream{} << stream_args).str(); \
-    log_func(msg);                                         \
+#define NEBULA_LOG_STREAM(log_func, stream_args) \
+  {                                              \
+    std::stringstream ss{};                      \
+    ss << stream_args;                           \
+    log_func(ss.str());                          \
   }
 
 namespace nebula::drivers::loggers

diff --git a/nebula_hw_interfaces/CMakeLists.txt b/nebula_hw_interfaces/CMakeLists.txt
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.14)
 project(nebula_hw_interfaces)
 
 # Default to C++17
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
-endif ()
+endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
-endif ()
+endif()
 
 find_package(ament_cmake_auto REQUIRED)
 find_package(boost_tcp_driver)
@@ -53,7 +53,6 @@ target_link_libraries(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${velodyne_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -68,7 +67,6 @@ target_link_libraries(nebula_hw_interfaces_robosense PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${robosense_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_robosense PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -113,6 +111,34 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+    find_package(ament_cmake_gmock REQUIRED)
+
+    ament_add_gtest(test_udp
+        test/common/test_udp.cpp
+    )
+
+    target_include_directories(test_udp PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        include
+        test)
+
+    ament_add_gmock(hesai_test_ptc
+        test/hesai/test_ptc.cpp
+    )
+
+    target_include_directories(hesai_test_ptc PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        ${nebula_hw_interfaces_hesai_INCLUDE_DIRS}
+        ${boost_tcp_driver_INCLUDE_DIRS}
+        ${boost_udp_driver_INCLUDE_DIRS}
+        include
+        test)
+
+    target_link_libraries(hesai_test_ptc
+        nebula_hw_interfaces_hesai
+    )
 endif()
 
 ament_export_include_directories("include/${PROJECT_NAME}")