886e3f1879
Detailed: As base used jsonrpccxx implementation paired with TCP socket TCP socket updated to handle dynamic sized buffers TCP communication protocol changed to serialized packet size after which json string is presented
98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
#include <chrono>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <thread>
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#include "cloud_point_rpc/config.hpp"
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#include "cloud_point_rpc/rpc_client.hpp"
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#include "cloud_point_rpc/rpc_server.hpp"
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#include "cloud_point_rpc/service.hpp"
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#include "cloud_point_rpc/tcp_server.hpp"
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#include <fstream>
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using namespace cloud_point_rpc;
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class IntegrationTest : public ::testing::Test {
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protected:
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void SetUp() override {
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// Create a temporary config file for testing
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std::ofstream config_file("config.yaml");
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config_file
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<< "server:\n"
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<< " ip: \"127.0.0.1\"\n"
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<< " port: 9095\n"
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<< "test_data:\n"
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<< " intrinsic_params: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, "
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"9.0]\n"
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<< " extrinsic_params: [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]\n"
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<< " cloud_point:\n"
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<< " - [0.1, 0.2, 0.3]\n";
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config_file.close();
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// Setup Mock Server
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try {
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config_ = ConfigLoader::load("config.yaml");
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} catch (...) {
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// If config fails, we can't proceed, but we should avoid crashing
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// in TearDown
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throw;
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}
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service_ = std::make_unique<Service>(config_.test_data);
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rpc_server_ = std::make_unique<RpcServer>();
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rpc_server_->register_method(
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"get-intrinsic-params", [&](const nlohmann::json &) {
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return service_->get_intrinsic_params();
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});
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// Start Server Thread
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tcp_server_ = std::make_unique<TcpServer>(
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config_.server.ip, config_.server.port,
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[&](const std::string &req) { return rpc_server_->process(req); });
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server_thread_ = std::thread([&]() { tcp_server_->start(); });
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// Give server time to start
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std::this_thread::sleep_for(std::chrono::milliseconds(200));
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}
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void TearDown() override {
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if (tcp_server_) {
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tcp_server_->stop();
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}
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if (server_thread_.joinable()) {
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server_thread_.join();
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}
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// Clean up
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std::remove("config.yaml");
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}
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Config config_;
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std::unique_ptr<Service> service_;
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std::unique_ptr<RpcServer> rpc_server_;
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std::unique_ptr<TcpServer> tcp_server_;
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std::thread server_thread_;
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};
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TEST_F(IntegrationTest, ClientCanConnectAndRetrieveValues) {
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TCPConnector connector(config_.server.ip, config_.server.port);
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RpcClient client(connector);
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// Act: Call Method
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std::vector<double> params;
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EXPECT_NO_THROW(params = client.get_intrinsic_params());
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// Assert: Values match config
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const auto &expected = config_.test_data.intrinsic_params;
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ASSERT_EQ(params.size(), expected.size());
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for (size_t i = 0; i < params.size(); ++i) {
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EXPECT_DOUBLE_EQ(params[i], expected[i]);
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}
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}
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TEST_F(IntegrationTest, ClientHandlesConnectionError) {
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EXPECT_THROW(TCPConnector connector("127.0.0.1", 9999), std::runtime_error);
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}
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