修改了二维码检测的一些小bug

src/qr_detection/test/test_qr_detect.cpp

@@ -0,0 +1,108 @@
+#include <algorithm>
+#include <chrono>
+#include <string>
+
+#include <gtest/gtest.h>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/compressed_image.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <origincar_msg/srv/speak.hpp>
+
+#define private public
+#define main qr_detect_node_main
+#include "../src/qr_detect.cpp"
+#undef main
+#undef private
+
+namespace
+{
+
+bool has_subscription_type(
+  const std::vector<rclcpp::TopicEndpointInfo> & endpoints,
+  const std::string & topic_type)
+{
+  return std::any_of(
+    endpoints.begin(), endpoints.end(),
+    [&](const rclcpp::TopicEndpointInfo & endpoint) {
+      return endpoint.topic_type() == topic_type;
+    });
+}
+
+}  // namespace
+
+TEST(QrDetectNode, subscribesToCompressedImageWhenCompressedPublisherExists)
+{
+  if (!rclcpp::ok()) {
+    rclcpp::init(0, nullptr);
+  }
+
+  auto camera_node = std::make_shared<rclcpp::Node>("qr_detect_compressed_camera_test");
+  auto camera_pub = camera_node->create_publisher<sensor_msgs::msg::CompressedImage>(
+    "/qr_test_image", rclcpp::SensorDataQoS());
+
+  rclcpp::NodeOptions options;
+  options.append_parameter_override("image_topic", "/qr_test_image");
+  auto qr_node = std::make_shared<QrDetectNode>(options);
+  auto graph_node = std::make_shared<rclcpp::Node>("qr_detect_graph_test");
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(camera_node);
+  executor.add_node(qr_node);
+  executor.add_node(graph_node);
+
+  std::vector<rclcpp::TopicEndpointInfo> endpoints;
+  const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(3);
+  while (std::chrono::steady_clock::now() < deadline) {
+    sensor_msgs::msg::CompressedImage msg;
+    msg.format = "jpeg";
+    msg.data = {0xff, 0xd8, 0xff, 0xd9};
+    camera_pub->publish(msg);
+    executor.spin_some();
+    endpoints = graph_node->get_subscriptions_info_by_topic("/qr_test_image");
+    if (has_subscription_type(endpoints, "sensor_msgs/msg/CompressedImage")) {
+      break;
+    }
+    rclcpp::sleep_for(std::chrono::milliseconds(100));
+  }
+
+  EXPECT_TRUE(has_subscription_type(endpoints, "sensor_msgs/msg/CompressedImage"));
+}
+
+TEST(QrDetectNode, publishesQrResultsOnly)
+{
+  if (!rclcpp::ok()) {
+    rclcpp::init(0, nullptr);
+  }
+
+  auto qr_node = std::make_shared<QrDetectNode>();
+  auto graph_node = std::make_shared<rclcpp::Node>("qr_detect_publication_graph_test");
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(qr_node);
+  executor.add_node(graph_node);
+
+  std::vector<rclcpp::TopicEndpointInfo> qr_results_publishers;
+  std::vector<rclcpp::TopicEndpointInfo> vlm_result_publishers;
+  const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(3);
+  while (std::chrono::steady_clock::now() < deadline) {
+    executor.spin_some();
+    qr_results_publishers = graph_node->get_publishers_info_by_topic("/qr_results");
+    vlm_result_publishers = graph_node->get_publishers_info_by_topic("/vlm_result");
+    if (has_subscription_type(qr_results_publishers, "std_msgs/msg/String")) {
+      break;
+    }
+    rclcpp::sleep_for(std::chrono::milliseconds(100));
+  }
+
+  EXPECT_TRUE(has_subscription_type(qr_results_publishers, "std_msgs/msg/String"));
+  EXPECT_FALSE(has_subscription_type(vlm_result_publishers, "std_msgs/msg/String"));
+}
+
+TEST(QrDetectNode, createsTtsSpeakClient)
+{
+  if (!rclcpp::ok()) {
+    rclcpp::init(0, nullptr);
+  }
+
+  auto qr_node = std::make_shared<QrDetectNode>();
+  ASSERT_NE(qr_node->tts_client_, nullptr);
+  EXPECT_STREQ(qr_node->tts_client_->get_service_name(), "/tts/speak");
+}