C++ Testing Guide

# Build the shared library
cargo build --no-default-features -p horus_cpp

# Compile a C++ test
g++ -std=c++17 -fext-numeric-literals \
    -I horus_cpp/include \
    -o my_test tests/my_test.cpp \
    -L target/debug -lhorus_cpp -lpthread -ldl -lm

# Run
LD_LIBRARY_PATH=target/debug ./my_test

#include <horus/horus.hpp>

static int pass = 0, fail = 0;
#define CHECK(cond, name) do { \
    if (cond) { printf("[PASS] %s\n", name); pass++; } \
    else { printf("[FAIL] %s\n", name); fail++; } \
} while(0)

void test_pubsub() {
    horus::Publisher<horus::msg::CmdVel>  pub("test.cmd");
    horus::Subscriber<horus::msg::CmdVel> sub("test.cmd");

    horus::msg::CmdVel msg{}; msg.linear = 1.5f;
    pub.send(msg);

    auto recv = sub.recv();
    CHECK(recv.has_value(), "message received");
    CHECK(recv->get()->linear == 1.5f, "field preserved");
}

int main() {
    test_pubsub();
    printf("Results: %d passed, %d failed\n", pass, fail);
    return fail > 0 ? 1 : 0;
}

g++ -std=c++17 -fsanitize=address -fno-omit-frame-pointer \
    -I horus_cpp/include \
    -o my_test_asan tests/my_test.cpp \
    -L target/debug -lhorus_cpp -lpthread -ldl -lm

LD_LIBRARY_PATH=target/debug ASAN_OPTIONS=detect_leaks=0 ./my_test_asan

// 1000 scheduler create/destroy cycles
for (int i = 0; i < 1000; i++) {
    horus::Scheduler sched;
    sched.add("node").tick([]{ }).build();
    sched.tick_once();
}

// 50 nodes with 100 ticks each
{
    horus::Scheduler sched;
    for (int i = 0; i < 50; i++) {
        sched.add(("node_" + std::to_string(i)).c_str())
            .tick([]{ }).build();
    }
    for (int i = 0; i < 100; i++) sched.tick_once();
}

# Terminal 1: subscriber (start first)
LD_LIBRARY_PATH=target/debug ./cross_process_sub "test.topic"

# Terminal 2: publisher
LD_LIBRARY_PATH=target/debug ./cross_process_pub "test.topic"