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refactor(behavior_velocity_planner): independent of plugin packages (#…
…9760) Signed-off-by: Takayuki Murooka <[email protected]>
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47 changes: 47 additions & 0 deletions
47
...oware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/test_utils.hpp
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| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // 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 AUTOWARE__BEHAVIOR_VELOCITY_PLANNER__TEST_UTILS_HPP_ | ||
| #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER__TEST_UTILS_HPP_ | ||
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| #include "autoware/behavior_velocity_planner/node.hpp" | ||
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| #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp> | ||
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| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
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| namespace autoware::behavior_velocity_planner | ||
| { | ||
| using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode; | ||
| using autoware::planning_test_manager::PlanningInterfaceTestManager; | ||
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| struct PluginInfo | ||
| { | ||
| std::string module_name; // e.g. crosswalk | ||
| std::string plugin_name; // e.g. autoware::behavior_velocity_planner::CrosswalkModulePlugin | ||
| }; | ||
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| std::shared_ptr<PlanningInterfaceTestManager> generateTestManager(); | ||
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| std::shared_ptr<BehaviorVelocityPlannerNode> generateNode( | ||
| const std::vector<PluginInfo> & plugin_info_vec); | ||
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| void publishMandatoryTopics( | ||
| std::shared_ptr<PlanningInterfaceTestManager> test_manager, | ||
| std::shared_ptr<BehaviorVelocityPlannerNode> test_target_node); | ||
| } // namespace autoware::behavior_velocity_planner | ||
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| #endif // AUTOWARE__BEHAVIOR_VELOCITY_PLANNER__TEST_UTILS_HPP_ |
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61 changes: 61 additions & 0 deletions
61
...behavior_velocity_planner/autoware_behavior_velocity_planner/test/test_node_interface.cpp
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| // Copyright 2023 Tier IV, Inc. | ||
| // | ||
| // 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 "autoware/behavior_velocity_planner/test_utils.hpp" | ||
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| #include <gtest/gtest.h> | ||
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| #include <cmath> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
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| namespace autoware::behavior_velocity_planner | ||
| { | ||
| TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| auto test_manager = autoware::behavior_velocity_planner::generateTestManager(); | ||
| auto test_target_node = autoware::behavior_velocity_planner::generateNode({}); | ||
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| autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node); | ||
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| // test with nominal path_with_lane_id | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node)); | ||
| EXPECT_GE(test_manager->getReceivedTopicNum(), 1); | ||
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| // test with empty path_with_lane_id | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node)); | ||
| rclcpp::shutdown(); | ||
| } | ||
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| TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
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| auto test_manager = autoware::behavior_velocity_planner::generateTestManager(); | ||
| auto test_target_node = autoware::behavior_velocity_planner::generateNode({}); | ||
| autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node); | ||
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| // test for normal trajectory | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node)); | ||
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| // make sure behavior_path_planner is running | ||
| EXPECT_GE(test_manager->getReceivedTopicNum(), 1); | ||
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| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node)); | ||
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| rclcpp::shutdown(); | ||
| } | ||
| } // namespace autoware::behavior_velocity_planner |