Hi helpful ROS answer-ers,
Due to a recent epiphany I have hopped aboard the TDD train, so to give you some context I am pretty new to working with unit testing frameworks, in particular gtest. I recently began working on a simple package to handle some i/o using a phidgets board I had sitting around, and decided to start there with ROS TDD, however I have been having some issues getting off the ground.
So I have a package setup in the following way:
scatter_phidgets
/src/scatter_phidgets.cpp
/include/scatter_phidgets/scatter_phidgets.h
/tests/utest.cpp
my Cmakelist looks like this:
cmake_minimum_required(VERSION 2.8.3)
project(scatter_phidgets)
add_definitions(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
phidgets_api
message_generation
)
add_message_files(
FILES
DigitalInput.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp std_msgs phidgets_api message_runtime
DEPENDS system_lib
)
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(phidgets src/scatter_phidgets.cpp)
target_link_libraries(phidgets ${catkin_LIBRARIES})
if (CATKIN_ENABLE_TESTING)
catkin_add_gtest(utest test/utest.cpp)
target_link_libraries(utest ${catkin_LIBRARIES})
endif()
In the header file I have a struct defined for digital inputs, digital outputs, analog outputs, along with the declaration of a single function that I wish to perform the unit test on, and looks like this:
#ifndef SCATTER_PHIDGETS_INCLUDE_SCATTER_PHIDGETS_SCATTER_PHIDGETS_H_
#define SCATTER_PHIDGETS_INCLUDE_SCATTER_PHIDGETS_SCATTER_PHIDGETS_H_
#include
#include
struct digital_input{
int channel;
ros::Publisher publisher;
ros::Subscriber subscriber;
bool latching = false;
int low_state = 0;
int latch_timeout = 0;
bool leading_edge = false;
int x_out_of = 0;
int y_sample_size = 0;
// ---------------------------
std::queue values;
int sum = 0;
int publish_value = 0;
bool latched = false;
bool hold_pending = false;
ros::Time time_latched;
ros::Time hold_start;
uint32_t held_time;
};
struct analog_input{
int channel;
ros::Publisher publisher;
// ---------------------------
int value = 0;
};
struct digital_output{
int channel;
ros::Publisher publisher;
ros::Subscriber subscriber;
int default_state = 0;
// ---------------------------
int value_actual = 0;
int value_commanded = 0;
};
void updateQueue(digital_input input, int raw_state);
#endif /* SCATTER_PHIDGETS_INCLUDE_SCATTER_PHIDGETS_SCATTER_PHIDGETS_H_ */
My utest.cpp looks like this:
#include "scatter_phidgets/scatter_phidgets.h"
#include "gtest/gtest.h"
TEST(TestScatterPhidgets, updatesInputQueueForInvertedLowState)
{
digital_input testInput;
testInput.low_state = 1;
int testint = 0;
updateQueue(testInput, testint);
EXPECT_EQ(testInput.sum, 1);
}
int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
Here's my issue: my package builds fine with catkin_make, however catkin_make tests fails with the following error:
[100%] Building CXX object scatter_phidgets/CMakeFiles/utest.dir/test/utest.cpp.o
Linking CXX executable /home/joe/test_catkin_ws/devel/lib/scatter_phidgets/utest
CMakeFiles/utest.dir/test/utest.cpp.o: In function `TestScatterPhidgets_updatesInputQueueForInvertedLowState_Test::TestBody()':
utest.cpp:(.text+0x62): undefined reference to `updateQueue(digital_input, int)'
collect2: error: ld returned 1 exit status
make[3]: *** [/home/joe/test_catkin_ws/devel/lib/scatter_phidgets/utest] Error 1
make[2]: *** [scatter_phidgets/CMakeFiles/utest.dir/all] Error 2
make[1]: *** [CMakeFiles/tests.dir/rule] Error 2
make: *** [tests] Error 2
Invoking "make tests -j8 -l8" failed
Now I really hope that I am making some simple mistake, however I cannot for the life of me get this thing to find that function.
What I have tried: At first I thought it simply wasn't finding the header file, however if I comment out the function call it does not complain about me using the struct that is defined in the header file.
Can anyone shed some light on what I am doing wrong? (or even better, point me in the direction of a simplest compiling example of a ros package using gtest to perform unit tests on functions that are not within the same file as the unit tests themselves, such is the case in many examples I have seen)
Thanks,
Joe
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