test: Parametrize the method integration tests

This drastically reduces boilerplate code when adding new tests.

tests/test_bridge_methods.rs

@@ -1,39 +1,60 @@
-use std::sync::{mpsc, Arc};
+use std::{
+    sync::{mpsc, Arc},
+    time::Duration,
+};
 
 use common::{wait_for_function_to_pass, ManagedRosBridge};
 
 pub mod common;
 pub mod helpers;
 
-#[test]
-fn e2e_ros_service_to_opc_ua_call() {
-    let (assertion_tx, _assertion_rx) = mpsc::channel();
-    let (stop_opc_ua_server_tx, stop_opc_ua_server_rx) = mpsc::channel();
-    helpers::opc_ua_test_server::run_opc_ua_test_server(assertion_tx, stop_opc_ua_server_rx);
-
-    let mut bridge_process = ManagedRosBridge::new().expect("Failed to start subprocess");
-
-    let service_caller = Arc::new(
-        helpers::ros_service_caller::ServiceCaller::new(
-            "/voraus_bridge_node/impedance_control/enable",
-        )
-        .unwrap(),
-    );
-
-    // TODO: Figure out why this takes almost 10 s [RR-836]
-    service_caller.start();
-    assert!(*service_caller.number_of_calls.lock().unwrap() == 0);
-    service_caller.call();
-
-    wait_for_function_to_pass(
-        || *service_caller.number_of_calls.lock().unwrap() == 1,
-        5000,
-    )
-    .unwrap();
-    bridge_process.terminate();
-    assert!(bridge_process
-        .get_std_err()
-        .unwrap()
-        .contains("ROS service called"));
-    stop_opc_ua_server_tx.send(()).unwrap();
+macro_rules! make_testcase_method {
+    ($value:expr, $testname:ident) => {
+        #[test]
+        fn $testname() {
+            let (assertion_tx, assertion_rx) = mpsc::channel();
+            let (stop_opc_ua_server_tx, stop_opc_ua_server_rx) = mpsc::channel();
+            helpers::opc_ua_test_server::run_opc_ua_test_server(
+                assertion_tx,
+                stop_opc_ua_server_rx,
+            );
+
+            let mut bridge_process = ManagedRosBridge::new().expect("Failed to start subprocess");
+
+            let service_caller = Arc::new(
+                helpers::ros_service_caller::ServiceCaller::new(&format!(
+                    "/voraus_bridge_node/{}",
+                    $value
+                ))
+                .unwrap(),
+            );
+
+            // TODO: Figure out why this takes almost 10 s [RR-836]
+            service_caller.start();
+            assert!(*service_caller.number_of_calls.lock().unwrap() == 0);
+            service_caller.call();
+
+            wait_for_function_to_pass(
+                || *service_caller.number_of_calls.lock().unwrap() == 1,
+                5000,
+            )
+            .unwrap();
+
+            wait_for_function_to_pass(
+                || {
+                    let received = assertion_rx
+                        .recv_timeout(Duration::from_millis(10))
+                        .unwrap();
+                    received.contains($value)
+                },
+                5000,
+            )
+            .unwrap();
+
+            bridge_process.terminate();
+            stop_opc_ua_server_tx.send(()).unwrap();
+        }
+    };
 }
+
+make_testcase_method!("impedance_control/enable", test_enable_impedance_control);