Add intraprocess test

tracetools_test/src/test_intra.cpp

@@ -0,0 +1,92 @@
+// Copyright 2019 Robert Bosch GmbH
+//
+// 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.
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+#define PUB_NODE_NAME "test_intra_pub"
+#define SUB_NODE_NAME "test_intra_sub"
+#define TOPIC_NAME "the_topic"
+
+class PubIntraNode : public rclcpp::Node
+{
+public:
+  explicit PubIntraNode(rclcpp::NodeOptions options)
+  : Node(PUB_NODE_NAME, options)
+  {
+    pub_ = this->create_publisher<std_msgs::msg::String>(
+      TOPIC_NAME,
+      rclcpp::QoS(10));
+    timer_ = this->create_wall_timer(
+      500ms,
+      std::bind(&PubIntraNode::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto msg = std::make_shared<std_msgs::msg::String>();
+    msg->data = "some random intraprocess string";
+    pub_->publish(*msg);
+  }
+
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+class SubIntraNode : public rclcpp::Node
+{
+public:
+  explicit SubIntraNode(rclcpp::NodeOptions options)
+  : Node(SUB_NODE_NAME, options)
+  {
+    sub_ = this->create_subscription<std_msgs::msg::String>(
+      "the_topic",
+      rclcpp::QoS(10),
+      std::bind(&SubIntraNode::callback, this, std::placeholders::_1));
+  }
+
+private:
+  void callback(const std_msgs::msg::String::SharedPtr msg)
+  {
+    RCLCPP_INFO(this->get_logger(), "[output] %s", msg->data.c_str());
+    rclcpp::shutdown();
+  }
+
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  rclcpp::executors::SingleThreadedExecutor exec;
+  auto pub_intra_node = std::make_shared<PubIntraNode>(
+    rclcpp::NodeOptions().use_intra_process_comms(true));
+  auto sub_intra_node = std::make_shared<SubIntraNode>(
+    rclcpp::NodeOptions().use_intra_process_comms(true));
+  exec.add_node(pub_intra_node);
+  exec.add_node(sub_intra_node);
+
+  printf("spinning\n");
+  exec.spin();
+
+  // Will actually be called inside the node's callback
+  rclcpp::shutdown();
+  return 0;
+}