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Revert "Remove traffic lights tests"
This reverts commit 433019c. Signed-off-by: Mateusz Palczuk <[email protected]>
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simulation/traffic_simulator/test/src/traffic_lights/CMakeLists.txt
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@@ -1,2 +1,8 @@ | ||
ament_add_gtest(test_traffic_light test_traffic_light.cpp) | ||
target_link_libraries(test_traffic_light traffic_simulator) | ||
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ament_add_gtest(test_traffic_lights | ||
test_traffic_lights_internal.cpp | ||
test_traffic_lights.cpp | ||
) | ||
target_link_libraries(test_traffic_lights traffic_simulator) |
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simulation/traffic_simulator/test/src/traffic_lights/helper.hpp
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// Copyright 2024 TIER IV, Inc. All rights reserved. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef TRAFFIC_SIMULATOR__TEST__TRAFFIC_LIGHTS__HELPER_HPP_ | ||
#define TRAFFIC_SIMULATOR__TEST__TRAFFIC_LIGHTS__HELPER_HPP_ | ||
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#include <rclcpp/time.hpp> | ||
#include <std_msgs/msg/header.hpp> | ||
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/// Helper functions | ||
// clang-format off | ||
inline auto stateFromColor(const std::string & color) -> std::string { return color + " solidOn circle"; } | ||
inline auto stateFromStatus(const std::string & status) -> std::string { return "green " + status + " circle"; } | ||
inline auto stateFromShape(const std::string & shape) -> std::string { return "green solidOn " + shape; } | ||
// clang-format on | ||
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/// Returns time in nanoseconds | ||
inline auto getTime(const builtin_interfaces::msg::Time & time) -> int | ||
{ | ||
static constexpr int nanosecond_multiplier = static_cast<int>(1e+9); | ||
return static_cast<int>(time.sec) * nanosecond_multiplier + static_cast<int>(time.nanosec); | ||
} | ||
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/// Returns time in nanoseconds | ||
inline auto getTime(const std_msgs::msg::Header & header) -> int { return getTime(header.stamp); } | ||
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/// Returns time in nanoseconds | ||
inline auto getTime(const rclcpp::Time & time) -> int | ||
{ | ||
return static_cast<int>(time.nanoseconds()); | ||
} | ||
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#endif // TRAFFIC_SIMULATOR__TEST__TRAFFIC_LIGHTS__HELPER_HPP_ |
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simulation/traffic_simulator/test/src/traffic_lights/test_traffic_lights.cpp
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// Copyright 2024 TIER IV, Inc. All rights reserved. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <gtest/gtest.h> | ||
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#include <ament_index_cpp/get_package_share_directory.hpp> | ||
#include <scenario_simulator_exception/exception.hpp> | ||
#include <std_msgs/msg/header.hpp> | ||
#include <traffic_simulator/traffic_lights/traffic_lights.hpp> | ||
#include <traffic_simulator/traffic_lights/traffic_lights_base.hpp> | ||
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#include "../expect_eq_macros.hpp" | ||
#include "helper.hpp" | ||
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constexpr double timing_eps = 1e-3; | ||
constexpr double frequency_eps = 0.5; | ||
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class TrafficLightsTest : public testing::Test | ||
{ | ||
public: | ||
const lanelet::Id id = 34836; | ||
const lanelet::Id signal_id = 34806; | ||
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const rclcpp::Node::SharedPtr node_ptr = rclcpp::Node::make_shared("TrafficLightsTest"); | ||
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const std::string path = | ||
ament_index_cpp::get_package_share_directory("traffic_simulator") + "/map/lanelet2_map.osm"; | ||
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const std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils_ptr = | ||
std::make_shared<hdmap_utils::HdMapUtils>( | ||
path, geographic_msgs::build<geographic_msgs::msg::GeoPoint>() | ||
.latitude(35.61836750154) | ||
.longitude(139.78066608243) | ||
.altitude(0.0)); | ||
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const std::string red_state = stateFromColor("red"); | ||
const std::string yellow_state = "yellow flashing circle"; | ||
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std::unique_ptr<traffic_simulator::TrafficLights> lights = | ||
std::make_unique<traffic_simulator::TrafficLights>(node_ptr, hdmap_utils_ptr, "awf/universe"); | ||
}; | ||
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TEST_F(TrafficLightsTest, isAnyTrafficLightChanged) | ||
{ | ||
EXPECT_TRUE(lights->isAnyTrafficLightChanged()); | ||
} | ||
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TEST_F(TrafficLightsTest, getConventionalTrafficLights) | ||
{ | ||
{ | ||
this->lights->getConventionalTrafficLights()->setTrafficLightsState(this->id, this->red_state); | ||
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const auto actual_state = | ||
this->lights->getConventionalTrafficLights()->getTrafficLightsComposedState(this->id); | ||
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EXPECT_EQ(actual_state, this->red_state); | ||
} | ||
{ | ||
this->lights->getConventionalTrafficLights()->setTrafficLightsState( | ||
this->id, this->yellow_state); | ||
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const auto actual_state = | ||
this->lights->getConventionalTrafficLights()->getTrafficLightsComposedState(this->id); | ||
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EXPECT_EQ(actual_state, this->yellow_state); | ||
} | ||
} | ||
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TEST_F(TrafficLightsTest, getV2ITrafficLights) | ||
{ | ||
{ | ||
this->lights->getV2ITrafficLights()->setTrafficLightsState(this->id, this->red_state); | ||
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const auto actual_state = | ||
this->lights->getV2ITrafficLights()->getTrafficLightsComposedState(this->id); | ||
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EXPECT_EQ(actual_state, this->red_state); | ||
} | ||
{ | ||
this->lights->getV2ITrafficLights()->setTrafficLightsState(this->id, this->yellow_state); | ||
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const auto actual_state = | ||
this->lights->getV2ITrafficLights()->getTrafficLightsComposedState(this->id); | ||
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EXPECT_EQ(actual_state, this->yellow_state); | ||
} | ||
} | ||
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TEST_F(TrafficLightsTest, startTrafficLightsUpdate) | ||
{ | ||
this->lights->getConventionalTrafficLights()->setTrafficLightsState(this->id, this->red_state); | ||
this->lights->getV2ITrafficLights()->setTrafficLightsState(this->id, this->red_state); | ||
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std::vector<visualization_msgs::msg::MarkerArray> markers; | ||
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rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr subscriber = | ||
this->node_ptr->template create_subscription<visualization_msgs::msg::MarkerArray>( | ||
"traffic_light/marker", 10, | ||
[&markers](const visualization_msgs::msg::MarkerArray::SharedPtr msg_in) { | ||
markers.push_back(*msg_in); | ||
}); | ||
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this->lights->startTrafficLightsUpdate(20.0, 10.0); | ||
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// start time is required to be measured here and not from first message, because there are two publishers publishing to this topic at the same time | ||
const auto start_time = node_ptr->now(); | ||
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// spin for 1 second | ||
const auto end = std::chrono::system_clock::now() + std::chrono::milliseconds(1020); | ||
while (std::chrono::system_clock::now() < end) { | ||
rclcpp::spin_some(this->node_ptr); | ||
} | ||
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std::vector<std_msgs::msg::Header> headers; | ||
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// verify | ||
for (std::size_t i = 0; i < markers.size(); ++i) { | ||
const auto & one_marker = markers[i].markers; | ||
EXPECT_EQ(one_marker.size(), static_cast<std::size_t>(1)); | ||
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if ( | ||
one_marker.front().header.stamp.sec != 0 and one_marker.front().header.stamp.nanosec != 0u) { | ||
headers.push_back(one_marker.front().header); | ||
} | ||
} | ||
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// verify message timing | ||
const double expected_frequency = 30.0; | ||
const double actual_frequency = | ||
static_cast<double>(headers.size()) / | ||
static_cast<double>(getTime(headers.back()) - getTime(start_time)) * 1e+9; | ||
EXPECT_NEAR(actual_frequency, expected_frequency, frequency_eps); | ||
} | ||
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int main(int argc, char ** argv) | ||
{ | ||
testing::InitGoogleTest(&argc, argv); | ||
rclcpp::init(argc, argv); | ||
return RUN_ALL_TESTS(); | ||
} |
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