Add unit tests

PlanSys2 · Feb 8, 2024 · 72e6e73 · 72e6e73
1 parent ae332cc
commit 72e6e73
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Showing 2 changed files with 54 additions and 4 deletions.
diff --git a/plansys2_popf_plan_solver/include/plansys2_popf_plan_solver/popf_plan_solver.hpp b/plansys2_popf_plan_solver/include/plansys2_popf_plan_solver/popf_plan_solver.hpp
@@ -32,11 +32,11 @@ class POPFPlanSolver : public PlanSolverBase
   std::string output_dir_parameter_name_;
   rclcpp_lifecycle::LifecycleNode::SharedPtr lc_node_;
 
-  std::optional<std::filesystem::path> create_folders(const std::string & node_namespace);
-
 public:
   POPFPlanSolver();
 
+  std::optional<std::filesystem::path> create_folders(const std::string & node_namespace);
+
   void configure(rclcpp_lifecycle::LifecycleNode::SharedPtr, const std::string &);
 
   std::optional<plansys2_msgs::msg::Plan> getPlan(

diff --git a/plansys2_popf_plan_solver/test/unit/popf_test.cpp b/plansys2_popf_plan_solver/test/unit/popf_test.cpp
@@ -54,6 +54,20 @@ void test_plan_generation(const std::string & argument = "")
   ASSERT_EQ(plan.value().items[2].action, "(talk leia jack jack m1)");
 }
 
+std::optional<std::filesystem::path> test_folder_creation(
+  const std::string & output_dir = "", const std::string & node_namespace = "")
+{
+  auto node = rclcpp_lifecycle::LifecycleNode::make_shared("test_node");
+  auto planner = std::make_shared<plansys2::POPFPlanSolver>();
+
+  planner->configure(node, "POPF");
+  if (!output_dir.empty()) {
+    node->set_parameter(rclcpp::Parameter("POPF.output_dir", output_dir));
+  }
+
+  return planner->create_folders(node_namespace);
+}
+
 TEST(popf_plan_solver, generate_plan_good)
 {
   test_plan_generation();
@@ -95,7 +109,6 @@ TEST(popf_plan_solver, check_1_ok_domain)
   ASSERT_TRUE(result);
 }
 
-
 TEST(popf_plan_solver, check_2_error_domain)
 {
   std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_popf_plan_solver");
@@ -113,7 +126,6 @@ TEST(popf_plan_solver, check_2_error_domain)
   ASSERT_FALSE(result);
 }
 
-
 TEST(popf_plan_solver, generate_plan_unsolvable)
 {
   std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_popf_plan_solver");
@@ -158,6 +170,44 @@ TEST(popf_plan_solver, generate_plan_error)
   ASSERT_FALSE(plan);
 }
 
+TEST(popf_plan_solver, create_folder_default)
+{
+  const auto output_dir = test_folder_creation();
+  ASSERT_TRUE(output_dir.has_value());
+  EXPECT_EQ(output_dir.value(), std::filesystem::temp_directory_path());
+}
+
+TEST(popf_plan_solver, create_folder_custom_path)
+{
+  const auto test_path = std::filesystem::temp_directory_path() / "test" / "path" / "one";
+  const auto output_dir = test_folder_creation(test_path);
+  ASSERT_TRUE(output_dir.has_value());
+  EXPECT_EQ(output_dir.value(), test_path);
+}
+
+TEST(popf_plan_solver, create_folder_custom_path_and_namespace)
+{
+  const auto test_path = std::filesystem::temp_directory_path() / "test" / "path" / "two";
+  const auto test_namespace = "/test/node";
+  const auto output_dir = test_folder_creation(test_path, test_namespace);
+  ASSERT_TRUE(output_dir.has_value());
+  EXPECT_EQ(output_dir.value(), test_path / "test" / "node");
+}
+
+TEST(popf_plan_solver, create_folder_filesystem_error)
+{
+  const auto test_path = std::filesystem::temp_directory_path() / "test" / "path" / "three";
+
+  // Create a file at the test path to force a filesystem error
+  std::ofstream out(test_path);
+  out << "random text\n";
+  out.close();
+
+  const auto test_namespace = "/test/node";
+  const auto output_dir = test_folder_creation(test_path, test_namespace);
+  ASSERT_FALSE(output_dir.has_value());
+}
+
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);