iox-#5 Add RuDiEnvironment for testing

build.rs

@@ -32,6 +32,7 @@ fn make_and_install(source_dir: &str, build_dir: &str, install_dir: &str) -> std
             .args(&[
                 "-DCMAKE_BUILD_TYPE=Release",
                 "-DBUILD_SHARED_LIBS=OFF",
+                "-DROUDI_ENVIRONMENT=ON",
                 &cmake_prefix_path,
                 &cmake_install_prefix,
                 &component_source_dir,
@@ -136,14 +137,20 @@ fn main() -> std::io::Result<()> {
 
     println!("cargo:rustc-link-search={}", iceoryx_lib_dir);
 
+    println!("cargo:rustc-link-lib=iceoryx_posh_testing");
+
     println!("cargo:rustc-link-lib=iceoryx_posh_roudi");
     println!("cargo:rustc-link-lib=iceoryx_posh");
     println!("cargo:rustc-link-lib=iceoryx_hoofs");
     println!("cargo:rustc-link-lib=iceoryx_platform");
+
+    println!("cargo:rustc-link-lib=acl");
+
     #[cfg(not(any(target_os = "windows", target_os = "macos")))]
     println!("cargo:rustc-link-lib=stdc++");
     #[cfg(any(target_os = "macos"))]
     println!("cargo:rustc-link-lib=c++");
 
+
     Ok(())
 }

src/lib.rs

@@ -17,3 +17,7 @@ pub mod sb;
 // re-export structs
 pub use error::IceOryxError;
 pub use runtime::Runtime;
+
+mod testing;
+#[cfg(test)]
+mod tests;

src/testing/mod.rs

@@ -0,0 +1,8 @@
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-FileCopyrightText: © Contributors to the iceoryx-rs project
+// SPDX-FileContributor: Mathias Kraus
+
+mod roudi_environment_ffi;
+
+// re-exports
+pub (crate) use roudi_environment_ffi::RouDiEnvironment;

src/testing/roudi_environment_ffi.rs

@@ -0,0 +1,25 @@
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-FileCopyrightText: © Contributors to the iceoryx-rs project
+// SPDX-FileContributor: Mathias Kraus
+
+cpp! {{
+    #include "iceoryx_posh/testing/roudi_environment/roudi_environment.hpp"
+
+    using iox::roudi::RouDiEnvironment;
+}}
+
+cpp_class!(pub unsafe struct RouDiEnvironment as "RouDiEnvironment");
+
+impl RouDiEnvironment {
+    pub(crate) fn new(
+    ) -> Box<Self> {
+        unsafe {
+            let raw = cpp!([] -> *mut RouDiEnvironment as "RouDiEnvironment*"
+            {
+                return new RouDiEnvironment();
+            });
+
+            Box::from_raw(raw)
+        }
+    }
+}

src/tests/basic_pub_sub.rs

@@ -0,0 +1,45 @@
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-FileCopyrightText: © Contributors to the iceoryx-rs project
+// SPDX-FileContributor: Mathias Kraus
+
+use crate::pb::{self, POD};
+use crate::sb;
+use crate::Runtime;
+use crate::testing::RouDiEnvironment;
+
+#[repr(C)]
+struct CounterTopic {
+    counter: u32,
+}
+
+unsafe impl POD for CounterTopic {}
+
+#[test]
+fn basic_pub_sub() {
+    let _roudi = RouDiEnvironment::new();
+
+    Runtime::init("publisher_simple");
+
+    let topic = sb::TopicBuilder::<CounterTopic>::new("Radar", "FrontLeft", "Counter")
+        .queue_capacity(5)
+        .build();
+
+    let (subscriber, sample_receive_token) = topic.subscribe();
+
+    let topic = pb::TopicBuilder::<CounterTopic>::new("Radar", "FrontLeft", "Counter").build().expect("Topic");//?;
+
+    let publisher = topic.offer();
+    let mut sample = publisher.allocate_sample().expect("Samle");//?;
+    sample.counter = 42;
+    publisher.publish(sample);
+
+    println!("Sending: {}", 42);
+
+    let sample_receiver = subscriber.get_sample_receiver(sample_receive_token);
+
+    if sample_receiver.has_samples() {
+        while let Some(sample) = sample_receiver.get_sample() {
+            println!("Receiving: {}", sample.counter);
+        }
+    }
+}

src/tests/mod.rs

@@ -0,0 +1,6 @@
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-FileCopyrightText: © Contributors to the iceoryx-rs project
+// SPDX-FileContributor: Mathias Kraus
+
+// minimal setup with one publisher and one subscriber exchanging data
+mod basic_pub_sub;