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feat: add common interface specs test (autowarefoundation#5034)
* add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * add interface specs test Signed-off-by: jack.song <jack.song@autocore.ai> * style(pre-commit): autofix * fix copyright Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: jack.song <jack.song@autocore.ai> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>
1 parent 8c38126 commit 58a513e

10 files changed

+384
-1
lines changed

‎common/component_interface_specs/CMakeLists.txt

+34
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@@ -4,4 +4,38 @@ project(component_interface_specs)
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find_package(autoware_cmake REQUIRED)
55
autoware_package()
66

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include_directories(
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include
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SYSTEM
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${rclcpp_INCLUDE_DIRS}
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${rosidl_runtime_cpp_INCLUDE_DIRS}
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${rcl_INCLUDE_DIRS}
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${autoware_adapi_v1_msgs_INCLUDE_DIRS}
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${autoware_auto_planning_msgs_INCLUDE_DIRS}
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${autoware_planning_msgs_INCLUDE_DIRS}
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${autoware_auto_vehicle_msgs_INCLUDE_DIRS}
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${tier4_control_msgs_INCLUDE_DIRS}
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${nav_msgs_INCLUDE_DIRS}
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${tier4_system_msgs_INCLUDE_DIRS}
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${tier4_vehicle_msgs_INCLUDE_DIRS}
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${autoware_auto_perception_msgs_INCLUDE_DIRS}
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${tier4_map_msgs_INCLUDE_DIRS}
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)
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if(BUILD_TESTING)
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ament_add_ros_isolated_gtest(test_component_interface_specs
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test/gtest_main.cpp
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test/test_planning.cpp
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test/test_control.cpp
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test/test_localization.cpp
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test/test_system.cpp
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test/test_map.cpp
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test/test_perception.cpp
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test/test_vehicle.cpp
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)
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target_include_directories(test_component_interface_specs
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PRIVATE include
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)
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endif()
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ament_auto_package()

‎common/component_interface_specs/package.xml

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@@ -11,13 +11,28 @@
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>ament_cmake_core</buildtool_depend>
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<buildtool_depend>ament_cmake_export_dependencies</buildtool_depend>
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<buildtool_depend>ament_cmake_test</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
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<buildtool_export_depend>ament_cmake_test</buildtool_export_depend>
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<depend>autoware_adapi_v1_msgs</depend>
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<depend>autoware_auto_perception_msgs</depend>
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<depend>autoware_auto_planning_msgs</depend>
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<depend>autoware_auto_vehicle_msgs</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>rcl</depend>
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<depend>rclcpp</depend>
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<depend>rosidl_runtime_cpp</depend>
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<depend>tier4_control_msgs</depend>
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<depend>tier4_map_msgs</depend>
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<depend>tier4_system_msgs</depend>
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<depend>tier4_vehicle_msgs</depend>
20-
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<test_depend>ament_cmake_ros</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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‎common/component_interface_specs/test/gtest_main.cpp

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// Copyright 2023 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "gtest/gtest.h"
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int main(int argc, char * argv[])
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}

‎common/component_interface_specs/test/test_control.cpp

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// Copyright 2023 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "component_interface_specs/control.hpp"
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#include "gtest/gtest.h"
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TEST(control, interface)
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{
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{
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using control_interface::IsPaused;
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IsPaused is_paused;
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size_t depth = 1;
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EXPECT_EQ(is_paused.depth, depth);
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EXPECT_EQ(is_paused.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(is_paused.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
27+
}
28+
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{
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using control_interface::IsStartRequested;
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IsStartRequested is_start_requested;
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size_t depth = 1;
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EXPECT_EQ(is_start_requested.depth, depth);
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EXPECT_EQ(is_start_requested.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(is_start_requested.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
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}
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{
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using control_interface::IsStopped;
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IsStopped is_stopped;
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size_t depth = 1;
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EXPECT_EQ(is_stopped.depth, depth);
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EXPECT_EQ(is_stopped.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(is_stopped.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
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}
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}

‎common/component_interface_specs/test/test_localization.cpp

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// Copyright 2023 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
7+
// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
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#include "component_interface_specs/localization.hpp"
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#include "gtest/gtest.h"
17+
18+
TEST(localization, interface)
19+
{
20+
{
21+
using localization_interface::InitializationState;
22+
InitializationState initialization_state;
23+
size_t depth = 1;
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EXPECT_EQ(initialization_state.depth, depth);
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EXPECT_EQ(initialization_state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(initialization_state.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
27+
}
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29+
{
30+
using localization_interface::KinematicState;
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KinematicState kinematic_state;
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size_t depth = 1;
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EXPECT_EQ(kinematic_state.depth, depth);
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EXPECT_EQ(kinematic_state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(kinematic_state.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
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}
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38+
{
39+
using localization_interface::Acceleration;
40+
Acceleration acceleration;
41+
size_t depth = 1;
42+
EXPECT_EQ(acceleration.depth, depth);
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EXPECT_EQ(acceleration.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(acceleration.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
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}
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}

‎common/component_interface_specs/test/test_map.cpp

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// Copyright 2023 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "component_interface_specs/map.hpp"
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#include "gtest/gtest.h"
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18+
TEST(map, interface)
19+
{
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{
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using map_interface::MapProjectorInfo;
22+
MapProjectorInfo map_projector;
23+
size_t depth = 1;
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EXPECT_EQ(map_projector.depth, depth);
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EXPECT_EQ(map_projector.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(map_projector.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
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}
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}

‎common/component_interface_specs/test/test_perception.cpp

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1+
// Copyright 2023 The Autoware Contributors
2+
//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
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//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "component_interface_specs/perception.hpp"
16+
#include "gtest/gtest.h"
17+
18+
TEST(perception, interface)
19+
{
20+
{
21+
using perception_interface::ObjectRecognition;
22+
ObjectRecognition object_recognition;
23+
size_t depth = 1;
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EXPECT_EQ(object_recognition.depth, depth);
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EXPECT_EQ(object_recognition.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(object_recognition.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
27+
}
28+
}

‎common/component_interface_specs/test/test_planning.cpp

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// Copyright 2023 The Autoware Contributors
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//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
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//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "component_interface_specs/planning.hpp"
16+
#include "gtest/gtest.h"
17+
18+
TEST(planning, interface)
19+
{
20+
{
21+
using planning_interface::RouteState;
22+
RouteState state;
23+
size_t depth = 1;
24+
EXPECT_EQ(state.depth, depth);
25+
EXPECT_EQ(state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(state.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
27+
}
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{
30+
using planning_interface::Route;
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Route route;
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size_t depth = 1;
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EXPECT_EQ(route.depth, depth);
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EXPECT_EQ(route.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(route.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
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}
37+
38+
{
39+
using planning_interface::NormalRoute;
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NormalRoute route;
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size_t depth = 1;
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EXPECT_EQ(route.depth, depth);
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EXPECT_EQ(route.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(route.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
45+
}
46+
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{
48+
using planning_interface::MrmRoute;
49+
MrmRoute route;
50+
size_t depth = 1;
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EXPECT_EQ(route.depth, depth);
52+
EXPECT_EQ(route.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
53+
EXPECT_EQ(route.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
54+
}
55+
56+
{
57+
using planning_interface::Trajectory;
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Trajectory trajectory;
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size_t depth = 1;
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EXPECT_EQ(trajectory.depth, depth);
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EXPECT_EQ(trajectory.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(trajectory.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
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}
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}

‎common/component_interface_specs/test/test_system.cpp

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// Copyright 2023 The Autoware Contributors
2+
//
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// Licensed under the Apache License, Version 2.0 (the "License");
4+
// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "component_interface_specs/system.hpp"
16+
#include "gtest/gtest.h"
17+
18+
TEST(system, interface)
19+
{
20+
{
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using system_interface::MrmState;
22+
MrmState state;
23+
size_t depth = 1;
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EXPECT_EQ(state.depth, depth);
25+
EXPECT_EQ(state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
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EXPECT_EQ(state.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
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}
28+
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{
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using system_interface::OperationModeState;
31+
OperationModeState state;
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size_t depth = 1;
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EXPECT_EQ(state.depth, depth);
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EXPECT_EQ(state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
35+
EXPECT_EQ(state.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
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}
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}

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