Ros2 fix battery and manager tests #319
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Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
WalkthroughThe recent updates primarily enhance the quality of service (QoS) settings for ROS 2 publishers and modify error handling mechanisms in test scenarios. Specifically, the Changes
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Actionable comments posted: 0
Review details
Configuration used: CodeRabbit UI
Review profile: CHILL
Files selected for processing (7)
- panther_battery/test/include/test_battery_node.hpp (1 hunks)
- panther_battery/test/test_battery_publisher.cpp (1 hunks)
- panther_manager/behavior_trees/lights.xml (1 hunks)
- panther_manager/behavior_trees/safety.xml (1 hunks)
- panther_manager/test/plugins/test_call_set_bool_service_node.cpp (1 hunks)
- panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp (2 hunks)
- panther_manager/test/test_safety_manager_node.cpp (1 hunks)
Files skipped from review due to trivial changes (3)
- panther_manager/behavior_trees/safety.xml
- panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp
- panther_manager/test/test_safety_manager_node.cpp
Additional comments not posted (4)
panther_battery/test/test_battery_publisher.cpp (1)
90-90: Updated QoS settings forio_state_pub_to enhance reliability and behavior.Verification successful
The new QoS settings for
io_state_pub_have been verified and align with the intended behavior of the tests. The changes ensure reliable delivery ofIOStateMsgmessages.
panther_battery/test/test_battery_node.cpppanther_battery/test/test_battery_publisher.cpppanther_battery/test/test_battery_node_dual_bat.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the impact of new QoS settings on system behavior. # Test: Check for any reported issues or errors related to IOState messages. rg --type python $'io_state_pub_->publish'Length of output: 74
Script:
#!/bin/bash # Description: Verify the impact of new QoS settings on system behavior. # Test: Check for any reported issues or errors related to IOState messages. rg --type cpp 'io_state_pub_->publish'Length of output: 291
Script:
#!/bin/bash # Description: Extract relevant lines to verify the impact of new QoS settings. # Extract lines where `io_state_pub_->publish` is used. rg --type cpp --context 5 'io_state_pub_->publish' panther_battery/test/test_battery_node.cpp rg --type cpp --context 5 'io_state_pub_->publish' panther_battery/test/test_battery_publisher.cpp rg --type cpp --context 5 'io_state_pub_->publish' panther_battery/test/test_battery_node_dual_bat.cppLength of output: 1491
panther_manager/test/plugins/test_call_set_bool_service_node.cpp (1)
151-151: Replaced old logic withEXPECT_THROWto enhance error handling in tests.Verification successful
The search results confirm that
EXPECT_THROWis consistently used across various test files to handle exceptions, including inpanther_manager/test/plugins/test_call_set_bool_service_node.cpp. This aligns with the change made in the pull request.
panther_manager/test/plugins/test_call_set_bool_service_node.cpp: EXPECT_THROW({CreateTree("CallSetBoolService", service);}, BT::LogicError);This indicates that the change to use
EXPECT_THROWfor exception handling is appropriate and consistent with the existing codebase practices.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that the correct exceptions are being thrown as expected. # Test: Check for the presence of `EXPECT_THROW` in other similar test cases. rg --type python $'EXPECT_THROW'Length of output: 62
Script:
#!/bin/bash # Description: Verify that the correct exceptions are being thrown as expected. # Test: Check for the presence of `EXPECT_THROW` in other similar test cases. rg --type cpp $'EXPECT_THROW'Length of output: 6910
panther_manager/behavior_trees/lights.xml (1)
52-52: Refined conditional check inservice_nameattribute for better logical clarity.Verification successful
Refined conditional check in
service_nameattribute for better logical clarity.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the impact of the refined conditional check on behavior tree execution. # Test: Check for any logical errors or unexpected behaviors in the execution of behavior trees. rg --type xml $'service_name'Length of output: 2143
Script:
#!/bin/bash # Description: Extract the specific line in `lights.xml` where the conditional check was refined. # Extract the line containing the refined conditional check. rg --type xml --line-number --context 5 '_skipIf="(!e_stop_state) || (current_anim_id == E_STOP_ANIM_ID)"' panther_manager/behavior_trees/lights.xmlLength of output: 6052
panther_battery/test/include/test_battery_node.hpp (1)
112-112: Updated QoS settings forio_state_pub_to enhance reliability and behavior.Verification successful
The updated QoS settings for
io_state_pub_have been verified, and no issues or errors related toIOStatemessages were found in the codebase.
- The
io_state_pub_publisher is used in multiple test files and the main codebase.- The new QoS settings are applied consistently across these usages.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the impact of new QoS settings on system behavior. # Test: Check for any reported issues or errors related to IOState messages. rg --type python $'io_state_pub_->publish'Length of output: 74
Script:
#!/bin/bash # Description: Verify the impact of new QoS settings on system behavior. # Test: Check for any usage of io_state_pub_ in the codebase. rg 'io_state_pub_' # Test: Check for any reported issues or errors related to IOState messages. rg 'IOState'Length of output: 7617
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Actionable comments posted: 0
Review details
Configuration used: CodeRabbit UI
Review profile: CHILL
Files selected for processing (4)
- panther_battery/test/include/test_battery_node.hpp (1 hunks)
- panther_battery/test/test_battery_publisher.cpp (1 hunks)
- panther_manager/test/plugins/test_call_set_bool_service_node.cpp (1 hunks)
- panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp (2 hunks)
Files skipped from review as they are similar to previous changes (4)
- panther_battery/test/include/test_battery_node.hpp
- panther_battery/test/test_battery_publisher.cpp
- panther_manager/test/plugins/test_call_set_bool_service_node.cpp
- panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp
Description
Test fixes. Pulled this #317
Modifications
Summary by CodeRabbit
Bug Fixes
io_state_pub_publisher to enhance reliability and transient local durability.Refactor
lights.xmlandsafety.xmlfor better logic clarity and correctness.Tests
EXPECT_THROWstatements to manage exceptions more effectively.