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Tests for mode handling
Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>
1 parent 69826ea commit 43280de

5 files changed

Lines changed: 190 additions & 2 deletions

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‎system_modes/CMakeLists.txt‎

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@@ -109,6 +109,7 @@ if(BUILD_TESTING)
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ament_lint_auto_find_test_dependencies()
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set(MODE_FILE_CORRECT ${CMAKE_CURRENT_SOURCE_DIR}/test/test_modes.yaml)
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set(MODE_FILE_RULES ${CMAKE_CURRENT_SOURCE_DIR}/test/test_modes_rules.yaml)
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set(MODE_FILE_WRONG ${CMAKE_CURRENT_SOURCE_DIR}/test/test_modes_wrong.yaml)
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configure_file(test/modefiles.h.in ${CMAKE_CURRENT_BINARY_DIR}/system_modes/modefiles.h)
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include_directories(BEFORE ${CMAKE_CURRENT_BINARY_DIR})
@@ -147,6 +148,15 @@ if(BUILD_TESTING)
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target_link_libraries(test_mode_inference mode)
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endif()
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ament_add_gtest(test_mode_handling test/test_mode_handling.cpp)
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if(TARGET test_mode_handling)
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target_include_directories(test_mode_handling PUBLIC
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${rclcpp_INCLUDE_DIRS}
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${CMAKE_CURRENT_BINARY_DIR}/system_modes/
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)
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target_link_libraries(test_mode_handling mode)
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endif()
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ament_add_gtest(test_mode_manager
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test/test_mode_manager.cpp
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src/system_modes/mode_manager.cpp)

‎system_modes/src/system_modes/mode_handling.cpp‎

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@@ -135,8 +135,7 @@ ModeHandling::get_rules_for(const std::string & system, const StateAndMode & tar
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{
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std::vector<ModeRule> rules;
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try {
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auto rulesmap = this->rules_[system];
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for (auto rule : rulesmap) {
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for (auto rule : this->rules_[system]) {
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if (target == rule.second.system_target) {
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rules.push_back(rule.second);
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}

‎system_modes/test/modefiles.h.in‎

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@@ -3,4 +3,5 @@
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#include <string>
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const static std::string MODE_FILE_CORRECT = "@MODE_FILE_CORRECT@";
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const static std::string MODE_FILE_RULES = "@MODE_FILE_RULES@";
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const static std::string MODE_FILE_WRONG = "@MODE_FILE_WRONG@";

‎system_modes/test/test_mode_handling.cpp‎

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@@ -0,0 +1,107 @@
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// Copyright (c) 2018 - for information on the respective copyright owner
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// see the NOTICE file and/or the repository https://github.com/microros/system_modes
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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 <rclcpp/rclcpp.hpp>
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#include <lifecycle_msgs/msg/state.hpp>
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#include <gtest/gtest.h>
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#include <stdexcept>
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#include <string>
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#include <memory>
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#include <vector>
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#include "system_modes/modefiles.h"
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#include "system_modes/mode_handling.hpp"
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using std::string;
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using std::vector;
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using rclcpp::Parameter;
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using system_modes::ModeHandling;
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using system_modes::StateAndMode;
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using lifecycle_msgs::msg::State;
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/*
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Testing parsing of mode files
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*/
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TEST(TestModeFilesParse, constructor) {
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ModeHandling * handling;
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EXPECT_NO_THROW(handling = new ModeHandling(MODE_FILE_CORRECT));
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EXPECT_NO_THROW(handling = new ModeHandling(MODE_FILE_RULES));
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EXPECT_THROW(
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handling = new ModeHandling("incorrect path"),
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std::runtime_error);
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(void) handling;
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}
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/*
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Testing parsing of mode files
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*/
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TEST(TestModeFilesParse, parse_rules) {
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ModeHandling * handling = new ModeHandling(MODE_FILE_RULES);
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EXPECT_EQ(
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0u,
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handling->get_rules_for("system", StateAndMode(State::PRIMARY_STATE_ACTIVE, "")).size());
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EXPECT_EQ(
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2u,
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handling->get_rules_for("system", StateAndMode(State::PRIMARY_STATE_ACTIVE, "AA")).size());
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EXPECT_EQ(
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2u,
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handling->get_rules_for("system", StateAndMode(State::PRIMARY_STATE_ACTIVE, "BB")).size());
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}
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/*
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Testing parsing of mode files
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*/
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TEST(TestModeFilesParse, test_rules) {
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ModeHandling * handling = new ModeHandling(MODE_FILE_RULES);
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auto rules = handling->get_rules_for("system", StateAndMode(State::PRIMARY_STATE_ACTIVE, "AA"));
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EXPECT_EQ("degrade_from_AA", rules[0].name);
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EXPECT_EQ("system", rules[0].system);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_ACTIVE, "AA"), rules[0].system_target);
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EXPECT_EQ("part0", rules[0].part);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_INACTIVE), rules[0].part_actual);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_ACTIVE), rules[0].new_system_target);
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EXPECT_EQ("inactive_from_AA", rules[1].name);
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EXPECT_EQ("system", rules[1].system);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_ACTIVE, "AA"), rules[1].system_target);
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EXPECT_EQ("part1", rules[1].part);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_INACTIVE), rules[1].part_actual);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_INACTIVE), rules[1].new_system_target);
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rules = handling->get_rules_for("system", StateAndMode(State::PRIMARY_STATE_ACTIVE, "BB"));
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EXPECT_EQ("degrade_from_BB", rules[0].name);
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EXPECT_EQ("system", rules[0].system);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_ACTIVE, "BB"), rules[0].system_target);
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EXPECT_EQ("part0", rules[0].part);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_INACTIVE), rules[0].part_actual);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_ACTIVE), rules[0].new_system_target);
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EXPECT_EQ("inactive_from_BB", rules[1].name);
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EXPECT_EQ("system", rules[1].system);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_ACTIVE, "BB"), rules[1].system_target);
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EXPECT_EQ("part1", rules[1].part);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_INACTIVE), rules[1].part_actual);
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EXPECT_EQ(StateAndMode(State::PRIMARY_STATE_INACTIVE), rules[1].new_system_target);
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}

‎system_modes/test/test_modes_rules.yaml‎

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# config/test
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---
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system:
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ros__parameters:
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type: system
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parts:
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part0
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part1
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modes:
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__DEFAULT__:
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part0: inactive
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part1: active
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AA:
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part0: active.FOO
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part1: active.AAA
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BB:
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part0: active.BAR
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part1: active.BBB
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rules:
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degrade_from_AA:
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if_target: active.AA
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if_part: [part0, inactive]
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new_target: active.__DEFAULT__
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degrade_from_BB:
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if_target: active.BB
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if_part: [part0, inactive]
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new_target: active.__DEFAULT__
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inactive_from_AA:
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if_target: active.AA
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if_part: [part1, inactive]
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new_target: inactive
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inactive_from_BB:
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if_target: active.BB
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if_part: [part1, inactive]
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new_target: inactive
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part0:
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ros__parameters:
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type: node
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modes:
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__DEFAULT__:
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ros__parameters:
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foo: 0.1
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bar: WARN
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FOO:
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ros__parameters:
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foo: 0.1
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bar: DBG
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BAR:
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ros__parameters:
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foo: 0.2
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bar: ERR
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part1:
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ros__parameters:
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type: node
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modes:
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__DEFAULT__:
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ros__parameters:
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foo: 0.1
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bar: WARN
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AAA:
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ros__parameters:
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foo: 0.2
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bar: DBG
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BBB:
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ros__parameters:
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foo: 0.9
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bar: ERR
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