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add briefs to describe the tests
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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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@danielsanchezaran
danielsanchezaran committed Oct 21, 2024
1 parent 740e362 commit 771811c
Showing 1 changed file with 92 additions and 16 deletions.
108 changes: 92 additions & 16 deletions vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@

#include <gtest/gtest.h>

#include <limits>
#include <memory>
using autoware::external_cmd_converter::ExternalCmdConverterNode;
using nav_msgs::msg::Odometry;
Expand Down Expand Up @@ -58,22 +59,27 @@ class TestExternalCmdConverter : public ::testing::Test
rclcpp::shutdown();
}

bool test_check_remote_topic_rate(bool received_data, bool is_external, bool time_has_passed)
/**
* @brief Test the external command converter's check_remote_topic_rate method under
* different circumstances:
* @param received_data wether to simulate if the emergency heartbeat and gate mode messages have
* been received or not
* @param is_external set the gate mode to Auto or External
* @param time_has_passed wether to sleep for a certain time to make sure the timeout period of
* the function has expired or not.
*/
bool test_check_remote_topic_rate(bool received_data, bool is_auto, bool time_has_passed)
{
if (!received_data) {
return external_cmd_converter_->check_remote_topic_rate();
}
GateMode gate;
gate.data = tier4_control_msgs::msg::GateMode::AUTO;
gate.data = (is_auto) ? tier4_control_msgs::msg::GateMode::AUTO
: tier4_control_msgs::msg::GateMode::EXTERNAL;
external_cmd_converter_->current_gate_mode_ = std::make_shared<GateMode>(gate);
external_cmd_converter_->latest_cmd_received_time_ =
std::make_shared<rclcpp::Time>(external_cmd_converter_->now());
if (!is_external) {
return external_cmd_converter_->check_remote_topic_rate();
}

gate.data = tier4_control_msgs::msg::GateMode::EXTERNAL;
external_cmd_converter_->current_gate_mode_ = std::make_shared<GateMode>(gate);
if (!time_has_passed) {
return external_cmd_converter_->check_remote_topic_rate();
}
Expand All @@ -82,6 +88,15 @@ class TestExternalCmdConverter : public ::testing::Test
return external_cmd_converter_->check_remote_topic_rate();
}

/**
* @brief Test the external command converter's check_emergency_stop_topic_timeout method under
* different circumstances:
* @param received_data wether to simulate if the emergency heartbeat and gate mode messages have
* been received or not
* @param is_auto set the gate mode to Auto or External
* @param time_has_passed wether to sleep for a certain time to make sure the timeout period of
* the function has expired or not.
*/
bool test_check_emergency_stop_topic_timeout(
bool received_data, bool is_auto, bool time_has_passed)
{
Expand All @@ -100,18 +115,34 @@ class TestExternalCmdConverter : public ::testing::Test
return external_cmd_converter_->check_emergency_stop_topic_timeout();
}

/**
* @brief Test the external command converter's get_shift_velocity_sign. This function is a
* wrapper to call the converter's function during the test and does nothing but pass the command
* to the function.
* @param cmd the command to be passed to the get_shift_velocity_sign member function.
*/
double test_get_shift_velocity_sign(const GearCommand & cmd)
{
return external_cmd_converter_->get_shift_velocity_sign(cmd);
}

/**
* @brief Helper function to initialize the accel and brake maps for testing.
*/
void initialize_maps(const std::string & accel_map, const std::string & brake_map)
{
external_cmd_converter_->accel_map_.readAccelMapFromCSV(accel_map);
external_cmd_converter_->brake_map_.readBrakeMapFromCSV(brake_map);
external_cmd_converter_->acc_map_initialized_ = true;
}

/**
* @brief Test the external command converter's calculate_acc. This function is a
* wrapper to call the converter's function during the test and does nothing but pass the command
* to the function.
* @param cmd the command to be passed to the calculate_acc member function.
* @param vel the velocity to be passed to the calculate_acc member function.
*/
double test_calculate_acc(

const ExternalControlCommand & cmd, const double vel)
Expand All @@ -122,6 +153,12 @@ class TestExternalCmdConverter : public ::testing::Test
std::shared_ptr<ExternalCmdConverterNode> external_cmd_converter_;
};

/**
* @brief Test the external command converter's check_emergency_stop_topic_timeout method under
* different circumstances by setting different combinations of conditions for the function
* execution. the test_check_emergency_stop_topic_timeout() function's brief should be read for
* further details.
*/
TEST_F(TestExternalCmdConverter, testCheckEmergencyStopTimeout)
{
EXPECT_TRUE(test_check_emergency_stop_topic_timeout(false, false, false));
Expand All @@ -130,13 +167,24 @@ TEST_F(TestExternalCmdConverter, testCheckEmergencyStopTimeout)
EXPECT_FALSE(test_check_emergency_stop_topic_timeout(true, false, true));
}

/**
* @brief Test the external command converter's check_remote_topic_rate method under
* different circumstances by setting different combinations of conditions for the function
* execution. the test_check_remote_topic_rate() function's brief should be read for further
* details.
*/
TEST_F(TestExternalCmdConverter, testRemoteTopicRate)
{
EXPECT_TRUE(test_check_remote_topic_rate(false, false, false));
EXPECT_TRUE(test_check_remote_topic_rate(true, true, false));
EXPECT_FALSE(test_check_remote_topic_rate(true, true, true));
EXPECT_TRUE(test_check_remote_topic_rate(true, true, true));
EXPECT_FALSE(test_check_remote_topic_rate(true, false, true));
}

/**
* @brief Test the external command converter's get_shift_velocity_sign function. It tests different
* combinations of input commands for the functions.
*/
TEST_F(TestExternalCmdConverter, testGetShiftVelocitySign)
{
GearCommand cmd;
Expand All @@ -150,6 +198,10 @@ TEST_F(TestExternalCmdConverter, testGetShiftVelocitySign)
EXPECT_DOUBLE_EQ(0.0, test_get_shift_velocity_sign(cmd));
}

/**
* @brief Test the external command converter's calculate_acc function. It tests different
* combinations of input commands and velocities for the functions.
*/
TEST_F(TestExternalCmdConverter, testCalculateAcc)
{
const auto map_dir =
Expand All @@ -158,12 +210,36 @@ TEST_F(TestExternalCmdConverter, testCalculateAcc)
const auto brake_map_path = map_dir + "/data/default/brake_map.csv";
initialize_maps(accel_map_path, brake_map_path);

ExternalControlCommand cmd;
cmd.control.throttle = 1.0;
cmd.control.brake = 0.0;
double vel = 0.0;
EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0);
cmd.control.throttle = 0.0;
cmd.control.brake = 1.0;
EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0);
// test standard cases
{
ExternalControlCommand cmd;
cmd.control.throttle = 1.0;
cmd.control.brake = 0.0;
double vel = 0.0;
EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0);
cmd.control.throttle = 0.0;
cmd.control.brake = 1.0;
EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0);
}
// test border cases
{
// input brake or throttle are infinite. finite velocity.
ExternalControlCommand cmd;
cmd.control.throttle = std::numeric_limits<double>::infinity();
cmd.control.brake = 0.0;
double vel = 0.0;
EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0);
cmd.control.throttle = 0.0;
cmd.control.brake = std::numeric_limits<double>::infinity();
EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0);

// input brake or throttle are infinite. velocity is infinite.
vel = std::numeric_limits<double>::infinity();
cmd.control.throttle = std::numeric_limits<double>::infinity();
cmd.control.brake = 0.0;
EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0);
cmd.control.throttle = 0.0;
cmd.control.brake = std::numeric_limits<double>::infinity();
EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0);
}
}

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