test: Implement central integration test

which tests all components working together properly.

Co-authored-by: Jan-Niklas Burfeind <[email protected]>

tests/test_bridge.rs

@@ -0,0 +1,68 @@
+use std::{
+    process::Command,
+    sync::{atomic::Ordering, Arc},
+    time::Duration,
+};
+
+pub mod helpers;
+
+#[tokio::test]
+async fn e2e_opc_ua_var_to_ros_topic() {
+    // Start the OPC UA server in the background
+    helpers::opc_ua_publisher_single_linear::run_rapid_clock().await;
+
+    println!("Starting ros bridge");
+    let mut bridge = Command::new("ros2")
+        .args(["run"])
+        .args(["voraus_ros_bridge"])
+        .args(["voraus_ros_bridge"])
+        .spawn()
+        .expect("Failed to run command");
+
+    // Spawn ROS Subscriber against a sample topic
+    println!("Creating Subscription");
+    let subscription = Arc::new(
+        helpers::ros_subscriber::Subscriber::new("joint_states_subscriber", "joint_states")
+            .unwrap(),
+    );
+    let timeout = Some(Duration::new(5, 0));
+    rclrs::spin_once(subscription.node.clone(), timeout).expect("Could not spin");
+
+    let mut number_of_messages_received = subscription.num_messages.load(Ordering::SeqCst);
+    let first_value = *subscription
+        .data
+        .lock()
+        .unwrap()
+        .as_ref()
+        .unwrap()
+        .position
+        .first()
+        .unwrap();
+    assert_eq!(number_of_messages_received, 1);
+
+    rclrs::spin_once(subscription.node.clone(), timeout).expect("Could not spin");
+
+    number_of_messages_received = subscription.num_messages.load(Ordering::SeqCst);
+    assert_eq!(number_of_messages_received, 2);
+    let second_value = *subscription
+        .data
+        .lock()
+        .unwrap()
+        .as_ref()
+        .unwrap()
+        .position
+        .first()
+        .unwrap();
+
+    println!("{}, {}", first_value, second_value);
+    assert!(
+        second_value > first_value,
+        "{} is not greater than {}",
+        second_value,
+        first_value
+    );
+    bridge
+        .kill()
+        .expect("voraus-ros-bridge process could not be killed.");
+    println!("done");
+}