simplify the tests

Signed-off-by: M. Fatih Cırıt <[email protected]>

common/autoware_control_center/test/test_cc_heartbeat.cpp

@@ -73,9 +73,9 @@ TEST_F(ControlCenterHeartbeatTest, HeartbeatHandling)
   status_operational.status = autoware_control_center_msgs::msg::NodeStatusOperational::NORMAL;
 
   RCLCPP_INFO(rclcpp::get_logger("test"), "Sending heartbeat");
-  auto pub_hb = test::send_first_heartbeat(node, deadline_ms_, status_activity, status_operational);
+  auto pub_hb = test::send_first_heartbeat(node, deadline_ms_, test::generate_hb_healthy());
   RCLCPP_INFO(rclcpp::get_logger("test"), "Sent heartbeat");
-  test::send_heartbeat(node, pub_hb, status_activity, status_operational);
+  test::send_heartbeat(node, pub_hb, test::generate_hb_healthy());
   RCLCPP_INFO(rclcpp::get_logger("test"), "Sent 2nd heartbeat");
 
   // wait for the heartbeat to be processed
@@ -95,11 +95,7 @@ TEST_F(ControlCenterHeartbeatTest, HeartbeatMissedDeadline)
   const auto [uuid, node] = test::register_node(node_name, ns);
 
   // Send a heartbeat
-  autoware_control_center_msgs::msg::NodeStatusActivity status_activity;
-  status_activity.status = autoware_control_center_msgs::msg::NodeStatusActivity::PROCESSING;
-  autoware_control_center_msgs::msg::NodeStatusOperational status_operational;
-  status_operational.status = autoware_control_center_msgs::msg::NodeStatusOperational::NORMAL;
-  auto pub_hb = test::send_first_heartbeat(node, deadline_ms_, status_activity, status_operational);
+  auto pub_hb = test::send_first_heartbeat(node, deadline_ms_, test::generate_hb_healthy());
 
   // Wait for the heartbeat deadline to be missed
   std::this_thread::sleep_for(
@@ -116,16 +112,15 @@ TEST_F(ControlCenterHeartbeatTest, HeartbeatMissedDeadline)
     autoware_control_center_msgs::msg::NodeStatusOperational::UNKNOWN);
 
   // Send a heartbeat and verify node status is updated
-  status_activity.status = autoware_control_center_msgs::msg::NodeStatusActivity::PROCESSING;
-  status_operational.status = autoware_control_center_msgs::msg::NodeStatusOperational::NORMAL;
-  test::send_heartbeat(node, pub_hb, status_activity, status_operational);
+  auto hb_healthy = test::generate_hb_healthy();
+  test::send_heartbeat(node, pub_hb, hb_healthy);
 
   // Wait shortly and expect the node to be alive
   std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(node_period_ms_ * 2.0));
   ASSERT_TRUE(test::wait_for_node_report(node->get_fully_qualified_name(), report));
   ASSERT_TRUE(report.is_alive);
-  ASSERT_EQ(report.status_activity.status, status_activity.status);
-  ASSERT_EQ(report.status_operational.status, status_operational.status);
+  ASSERT_EQ(report.status_activity.status, hb_healthy->status_activity.status);
+  ASSERT_EQ(report.status_operational.status, hb_healthy->status_operational.status);
 }
 
 int main(int argc, char ** argv)

common/autoware_control_center/test/test_utility.hpp

@@ -128,11 +128,19 @@ inline bool is_node_registered(const std::string & node_full_name)
   return wait_for_node_report(node_full_name, report);
 }
 
+inline void send_heartbeat(
+  const rclcpp::Node::SharedPtr & node,
+  const rclcpp::Publisher<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr & pub,
+  const autoware_control_center_msgs::msg::Heartbeat::SharedPtr & heartbeat)
+{
+  pub->publish(*heartbeat);
+  rclcpp::spin_some(node);
+}
+
 inline rclcpp::Publisher<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr
 send_first_heartbeat(
   const rclcpp::Node::SharedPtr & node, const double deadline_ms,
-  const autoware_control_center_msgs::msg::NodeStatusActivity & status_activity,
-  const autoware_control_center_msgs::msg::NodeStatusOperational & status_operational)
+  const autoware_control_center_msgs::msg::Heartbeat::SharedPtr & heartbeat)
 {
   const std::string fully_qualified_name = node->get_fully_qualified_name();
 
@@ -143,31 +151,20 @@ send_first_heartbeat(
 
   auto pub = node->create_publisher<autoware_control_center_msgs::msg::Heartbeat>(
     fully_qualified_name + test::topic_heartbeat_suffix, qos_profile);
-  autoware_control_center_msgs::msg::Heartbeat heartbeat;
-  heartbeat.stamp = node->now();
-  heartbeat.status_activity = status_activity;
-  heartbeat.status_operational = status_operational;
-
-  pub->publish(heartbeat);
-  rclcpp::spin_some(node);
+  send_heartbeat(node, pub, heartbeat);
   return pub;
 }
 
-inline void send_heartbeat(
-  const rclcpp::Node::SharedPtr & node,
-  const rclcpp::Publisher<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr & pub,
-  const autoware_control_center_msgs::msg::NodeStatusActivity & status_activity,
-  const autoware_control_center_msgs::msg::NodeStatusOperational & status_operational)
+autoware_control_center_msgs::msg::Heartbeat::SharedPtr generate_hb_healthy()
 {
-  autoware_control_center_msgs::msg::Heartbeat heartbeat;
-  heartbeat.stamp = node->now();
-  heartbeat.status_activity = status_activity;
-  heartbeat.status_operational = status_operational;
-
-  pub->publish(heartbeat);
-  rclcpp::spin_some(node);
+  auto heartbeat = std::make_shared<autoware_control_center_msgs::msg::Heartbeat>();
+  heartbeat->stamp = rclcpp::Clock().now();
+  heartbeat->status_activity.status =
+    autoware_control_center_msgs::msg::NodeStatusActivity::PROCESSING;
+  heartbeat->status_operational.status =
+    autoware_control_center_msgs::msg::NodeStatusOperational::NORMAL;
+  return heartbeat;
 }
-
 }  // namespace autoware::control_center::test
 
 #endif  // TEST_UTILITY_HPP_