add unit tests

usdot-fhwa-stol · Aug 29, 2023 · 8b28b06 · 8b28b06
1 parent b36562f
commit 8b28b06
Show file tree

Hide file tree

Showing 4 changed files with 19 additions and 25 deletions.
diff --git a/...ontrollers/include/subsystem_controllers/drivers_controller/drivers_controller_config.hpp b/...ontrollers/include/subsystem_controllers/drivers_controller/drivers_controller_config.hpp
@@ -36,7 +36,7 @@ namespace subsystem_controllers
     //! The time allocated for system startup in seconds
     double startup_duration_;
     //! The timeout threshold for essential drivers in ms
-    double driver_timeout_;
+    double driver_timeout_ = 1000;
 
 
     // Stream operator for this config

diff --git a/subsystem_controllers/test/CMakeLists.txt b/subsystem_controllers/test/CMakeLists.txt
@@ -23,11 +23,14 @@ add_executable(test_carma_lifecycle_node
 ament_add_gtest(controllers_gtest
   localization_controller_test.cpp
   test_plugin_manager.cpp
+  test_driver_subsystem/test_entry_manager.cpp
+  test_driver_subsystem/test_driver_manager.cpp
 )
 
 target_link_libraries(controllers_gtest
   localization_controller_core
   guidance_controller_core
+  drivers_controller_core
 )
 
 ament_target_dependencies(test_carma_lifecycle_node ${dependencies} )

diff --git a/subsystem_controllers/test/test_driver_subsystem/test_driver_manager.cpp b/subsystem_controllers/test/test_driver_subsystem/test_driver_manager.cpp
@@ -29,7 +29,6 @@ namespace subsystem_controllers
         msg0.name = "controller";
         msg0.status = carma_driver_msgs::msg::DriverStatus::OPERATIONAL;
 
-        // carma_driver_msgs::msg::DriverStatus::SharedPtr msg0_pointer(new carma_driver_msgs::msg::DriverStatus(msg0));
         auto msg0_pointer = std::make_shared<carma_driver_msgs::msg::DriverStatus>(msg0);
 
         dm0.update_driver_status(msg0_pointer, 1000);

diff --git a/subsystem_controllers/test/test_driver_subsystem/test_entry_manager.cpp b/subsystem_controllers/test/test_driver_subsystem/test_entry_manager.cpp
@@ -20,81 +20,73 @@
 
 namespace subsystem_controllers
 {
-    TEST(EntryManagerTest, testAddNewEntry)
+    TEST(EntryManagerTest, testNewEntry)
     {
         // Entry(bool available, bool active, const std::string& name, uint8_t type, const std::string& capability, bool is_ros1)
         EntryManager em;
         // params: bool available, bool active, std::string name, long timestamp, uint8_t type
-        Entry entry(true, false, "cruising_plugin", 1, "", 1000, true);
+        Entry entry(true,"cruising_plugin", 1000);
         em.update_entry(entry);
 
 
         std::vector<Entry> res = em.get_entries();
         EXPECT_EQ(1, res.size());
         EXPECT_EQ(true, res.begin()->available_);
-        EXPECT_EQ(false, res.begin()->active_);
         EXPECT_EQ("cruising_plugin", res.begin()->name_);
         EXPECT_EQ(1000, res.begin()->timestamp_);
-        EXPECT_EQ(1, res.begin()->type_); 
 
     }
 
-    TEST(EntryManagerTest, testUpdateEntry)
+    TEST(EntryManagerTest, testUpdatedEntry)
     {
         EntryManager em;
         // params: bool available, bool active, std::string name, long timestamp, uint8_t type
-        Entry entry(true, false, "cruising_plugin", 1, "", 1000, true);
+        Entry entry(true, "cruising_plugin", 1000);
         em.update_entry(entry);
-        Entry new_entry(false, true, "cruising_plugin", 3, "", 2000, true);
+        Entry new_entry(false, "cruising_plugin", 2000);
         em.update_entry(new_entry);
         std::vector<Entry> res = em.get_entries();
         EXPECT_EQ(1, res.size());
         EXPECT_EQ(false, res.begin()->available_);
-        EXPECT_EQ(true, res.begin()->active_);
         EXPECT_EQ(2000, res.begin()->timestamp_);
         // the following two attributes should not change once set
         EXPECT_EQ("cruising_plugin", res.begin()->name_);
-        EXPECT_EQ(1, res.begin()->type_);
     }
 
-    TEST(EntryManagerTest, testDeleteEntry)
+    TEST(EntryManagerTest, testDeletedEntry)
     {
         EntryManager em;
         // params: bool available, bool active, std::string name, long timestamp, uint8_t type
-        Entry entry(true, false, "cruising_plugin", 1, "", 1000, true);
+        Entry entry(true, "cruising_plugin",1000);
         em.update_entry(entry);
-        Entry new_entry(false, true, "cruising_plugin_2", 3, "", 2000, true);
+        Entry new_entry(false, "cruising_plugin_2", 2000);
         em.update_entry(new_entry);
         em.delete_entry("cruising_plugin");
         std::vector<Entry> res = em.get_entries();
         EXPECT_EQ(1, res.size());
         EXPECT_EQ(false, res.begin()->available_);
-        EXPECT_EQ(true, res.begin()->active_);
         EXPECT_EQ(2000, res.begin()->timestamp_);
         // the following two attributes should not change once set
         EXPECT_EQ("cruising_plugin_2", res.begin()->name_);
-        EXPECT_EQ(3, res.begin()->type_);
     }
 
-    TEST(EntryManagerTest, testGetEntryByValidName)
+    TEST(EntryManagerTest, testGetEntryWithValidName)
     {
         EntryManager em;
         // params: bool available, bool active, std::string name, long timestamp, uint8_t type
-        Entry entry(true, false, "cruising_plugin", 1, "", 1000, true);
+        Entry entry(true, "cruising_plugin", 1000);
         em.update_entry(entry);
         boost::optional<Entry> res = em.get_entry_by_name("cruising_plugin");
         EXPECT_EQ(true, res->available_);
-        EXPECT_EQ(false, res->active_);
         EXPECT_EQ(1000, res->timestamp_);
-        EXPECT_EQ(1, res->type_);
         EXPECT_EQ("cruising_plugin", res->name_);
     }
 
-    TEST(EntryManagerTest, testGetEntryByInvalidName)
+    TEST(EntryManagerTest, testGetEntryWithInvalidName)
     {
         EntryManager em;
         // params: bool available, bool active, std::string name, long timestamp, uint8_t type
-        Entry entry(true, false, "cruising_plugin", 1, "", 1000, true);
+        Entry entry(true, "cruising_plugin", true);
         em.update_entry(entry);
         boost::optional<Entry> res = em.get_entry_by_name("plugin");
         if(!res)
@@ -106,15 +98,15 @@ namespace subsystem_controllers
         }
     }
 
-    TEST(EntryManagerTest, testRequiredEntryCheck)
+    TEST(EntryManagerTest, testRequiredEntry)
     {
         std::vector<std::string> required_names;
         required_names.push_back("cruising");
         required_names.push_back("cruising_plugin");
         EntryManager em(required_names);
-        Entry entry(true, false, "cruising_plugin", 1, "", 1000, true);
+        Entry entry(true, "cruising_plugin", 1000);
         em.update_entry(entry);
-        Entry new_entry(false, true, "cruising_plugin_2", 3, "", 2000, true);
+        Entry new_entry(false, "cruising_plugin_2", 2000);
         em.update_entry(new_entry);
         EXPECT_EQ(true, em.is_entry_required("cruising_plugin"));
         EXPECT_EQ(true, em.is_entry_required("cruising"));