Minimal unit tests for manager and monitor

IMHO hard to test outside the ROS execution context as they depend on
parameters. So mainly relying on launch tests.

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Author: norro

.codecov.yml

@@ -0,0 +1,4 @@
+ignore:
+  - "system_modes_examples"
+  - "system_modes/test"
+  - "**/*_node.cpp"

codecov.yml

@@ -147,6 +147,28 @@ if(BUILD_TESTING)
     target_link_libraries(test_mode_inference mode)
   endif()
 
+  ament_add_gtest(test_mode_manager
+    test/test_mode_manager.cpp
+    src/system_modes/mode_manager.cpp)
+  if(TARGET test_mode_manager)
+    target_include_directories(test_mode_manager PUBLIC
+      ${rclcpp_INCLUDE_DIRS}
+      ${CMAKE_CURRENT_BINARY_DIR}/system_modes/
+    )
+    target_link_libraries(test_mode_manager mode)
+  endif()
+
+  ament_add_gtest(test_mode_monitor
+    test/test_mode_monitor.cpp
+    src/system_modes/mode_monitor.cpp)
+  if(TARGET test_mode_monitor)
+    target_include_directories(test_mode_monitor PUBLIC
+      ${rclcpp_INCLUDE_DIRS}
+      ${CMAKE_CURRENT_BINARY_DIR}/system_modes/
+    )
+    target_link_libraries(test_mode_monitor mode)
+  endif()
+
   # Launch Tests
   find_package(launch_testing_ament_cmake REQUIRED)
   set(launch_tests

system_modes/CMakeLists.txt

@@ -0,0 +1,32 @@
+// Copyright (c) 2021 - for information on the respective copyright owner
+// see the NOTICE file and/or the repository https://github.com/microros/system_modes
+//
+// 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.
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+#include <stdexcept>
+
+#include "system_modes/modefiles.h"
+#include "system_modes/mode_manager.hpp"
+
+using system_modes::ModeManager;
+
+TEST(TestModeManager, initialization) {
+  ModeManager * manager;
+
+  EXPECT_THROW(manager = new ModeManager(), std::invalid_argument);
+
+  (void) manager;
+}

system_modes/test/test_mode_manager.cpp

@@ -0,0 +1,32 @@
+// Copyright (c) 2021 - for information on the respective copyright owner
+// see the NOTICE file and/or the repository https://github.com/microros/system_modes
+//
+// 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.
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+#include <stdexcept>
+
+#include "system_modes/modefiles.h"
+#include "system_modes/mode_monitor.hpp"
+
+using system_modes::ModeMonitor;
+
+TEST(TestModeMonitor, initialization) {
+  ModeMonitor * monitor;
+
+  EXPECT_THROW(monitor = new ModeMonitor(), std::invalid_argument);
+
+  (void) monitor;
+}