Implement tests for lights driver

husarion · Sep 5, 2024 · fb71613 · fb71613
1 parent aab6fa3
commit fb71613
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Showing 3 changed files with 261 additions and 165 deletions.
diff --git a/panther_lights/include/panther_lights/lights_driver_node.hpp b/panther_lights/include/panther_lights/lights_driver_node.hpp
@@ -48,31 +48,11 @@ class LightsDriverNode : public rclcpp::Node
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 protected:
-  int num_led_;
-  double frame_timeout_;
-  bool led_control_granted_;
-  bool led_control_pending_;
-
-  rclcpp::Time channel_1_ts_;
-  rclcpp::Time channel_2_ts_;
-
-private:
-  void OnShutdown();
-
-  void InitializationTimerCB();
-
   /**
    * @brief Clears all LEDs on both channels.
    */
   void ClearLEDs();
 
-  /**
-   * @brief Toggles LED control ON or OFF.
-   *
-   * @param enable True to enable LED control, false to disable.
-   */
-  void ToggleLEDControl(const bool enable);
-
   /**
    * @brief Callback to execute when service invoked to toggle LED control returns response.
    *
@@ -93,10 +73,6 @@ class LightsDriverNode : public rclcpp::Node
     const ImageMsg::UniquePtr & msg, const APA102Interface::SharedPtr & panel,
     const rclcpp::Time & last_time, const std::string & panel_name);
 
-  void SetBrightnessCB(
-    const SetLEDBrightnessSrv::Request::SharedPtr & request,
-    SetLEDBrightnessSrv::Response::SharedPtr response);
-
   /**
    * @brief Logs a warning message to the panel throttle log. Since this is throttle warning, we
    * need to add panel name condition to log from both panels.
@@ -107,6 +83,30 @@ class LightsDriverNode : public rclcpp::Node
    */
   void PanelThrottleWarnLog(const std::string panel_name, const std::string message);
 
+  int num_led_;
+  double frame_timeout_;
+  bool led_control_granted_;
+  bool led_control_pending_;
+
+  rclcpp::Time channel_1_ts_;
+  rclcpp::Time channel_2_ts_;
+
+private:
+  void OnShutdown();
+
+  void InitializationTimerCB();
+
+  /**
+   * @brief Toggles LED control ON or OFF.
+   *
+   * @param enable True to enable LED control, false to disable.
+   */
+  void ToggleLEDControl(const bool enable);
+
+  void SetBrightnessCB(
+    const SetLEDBrightnessSrv::Request::SharedPtr & request,
+    SetLEDBrightnessSrv::Response::SharedPtr response);
+
   void DiagnoseLights(diagnostic_updater::DiagnosticStatusWrapper & status);
 
   static constexpr unsigned kMaxInitializationAttempts = 3;

diff --git a/panther_lights/src/lights_driver_node.cpp b/panther_lights/src/lights_driver_node.cpp
@@ -191,8 +191,8 @@ void LightsDriverNode::ToggleLEDControlCB(
 }
 
 void LightsDriverNode::FrameCB(
-  const ImageMsg::UniquePtr & msg, const APA102::SharedPtr & panel, const rclcpp::Time & last_time,
-  const std::string & panel_name)
+  const ImageMsg::UniquePtr & msg, const APA102Interface::SharedPtr & panel,
+  const rclcpp::Time & last_time, const std::string & panel_name)
 {
   if (!led_control_granted_) {
     PanelThrottleWarnLog(