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Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-midd…
…le' into RJD-1057-remove-functions-forwarded-to-entity-base-with-middle Signed-off-by: Mateusz Palczuk <[email protected]>
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6 changes: 6 additions & 0 deletions
6
simulation/traffic_simulator/test/src/traffic_lights/CMakeLists.txt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,44 @@ | ||
| // 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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| Original file line number | Diff line number | Diff line change |
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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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