Update tests

source/communication_interfaces/test/tests/test_tcp_communication.cpp

@@ -0,0 +1,58 @@
+#include <gtest/gtest.h>
+#include <thread>
+
+#include "communication_interfaces/sockets/TCPClient.hpp"
+#include "communication_interfaces/sockets/TCPServer.hpp"
+
+using namespace communication_interfaces;
+
+class TestTCPSockets : public ::testing::Test {
+public:
+  TestTCPSockets() {
+    server_ = std::make_shared<sockets::TCPServer>(sockets::TCPServerConfiguration{6000, 50, true});
+    client_ = std::make_shared<sockets::TCPClient>(sockets::TCPClientConfiguration{"127.0.0.1", 6000, 50});
+  }
+
+  std::thread start_server() {
+    return std::thread([this] { this->serve(); });
+  }
+
+  void serve() const {
+    server_->open();
+    server_->connect();
+    ASSERT_TRUE(server_->is_connected());
+    std::string recv_message;
+    EXPECT_TRUE(server_->receive_bytes(recv_message));
+    EXPECT_STREQ(recv_message.c_str(), client_message_.c_str());
+    EXPECT_TRUE(server_->send_bytes(server_message_));
+  }
+
+  std::thread start_client() {
+    return std::thread([this] { this->client(); });
+  }
+
+  void client() const {
+    client_->open();
+    client_->connect();
+    ASSERT_TRUE(client_->is_connected());
+    EXPECT_TRUE(client_->send_bytes(client_message_));
+    std::string recv_message;
+    EXPECT_TRUE(client_->receive_bytes(recv_message));
+    EXPECT_STREQ(recv_message.c_str(), server_message_.c_str());
+  }
+
+  std::string client_message_ = "Hello server";
+  std::string server_message_ = "Hello client";
+
+  std::shared_ptr<sockets::TCPClient> client_;
+  std::shared_ptr<sockets::TCPServer> server_;
+};
+
+TEST_F(TestTCPSockets, TestCommunication) {
+  std::thread server = start_server();
+  usleep(100000);
+  std::thread client = start_client();
+
+  client.join();
+  server.join();
+}