test: add Ouster code coverage flags and unit tests for hw_interface#5
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Samahu merged 3 commits intoApr 21, 2026
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- Add nebula_ouster, nebula_ouster_common, nebula_ouster_decoders, and nebula_ouster_hw_interfaces flags to .codecov.yml following the pattern used by Hesai, Robosense, and Continental vendors. - Add GTest-based unit tests for OusterHwInterface covering: start without callback, empty callback registration, lifecycle, idempotent double start, stop without start, callback replacement while running, scan packet callback, and error code string conversion. - Update CMakeLists.txt with BUILD_TESTING block matching other vendors. Agent-Logs-Url: https://github.com/Samahu/nebula/sessions/e06d9bd5-4b3a-484a-bd8a-a5a3b002b63c Co-authored-by: Samahu <606033+Samahu@users.noreply.github.com>
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Pull request overview
Adds Codecov flag coverage tracking and introduces unit tests to raise patch coverage for the Ouster integration, aligning it with the existing vendor package patterns in this repo.
Changes:
- Add Codecov
individual_flagsentries for the Ouster packages to track coverage per subpackage. - Add GTest unit tests for
nebula::drivers::OusterHwInterface, including lifecycle/error-path and packet-callback behavior. - Wire the new Ouster hw_interface test into
nebula_ouster_hw_interfacesvia aBUILD_TESTINGCMake block.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
src/nebula_ouster/nebula_ouster_hw_interfaces/test/test_ouster_hw_interface.cpp |
Adds GTest coverage for OusterHwInterface, including UDP callback triggering via a mock sender. |
src/nebula_ouster/nebula_ouster_hw_interfaces/CMakeLists.txt |
Adds ament_add_gtest target and dependencies for the new hw_interface tests. |
.codecov.yml |
Adds Codecov flags for Ouster packages to address 0% patch coverage reporting. |
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Samahu
merged commit 751e137
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add-ouster-lidar-support-via-submodule
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Summary
Addresses the 0% patch coverage on Ouster packages reported by the Codecov Report on PR #2. The patch coverage target is 90%, but all 398 new lines from the Ouster integration had 0% coverage.
Changes
1. Codecov flag configuration (
.codecov.yml)Added individual coverage flags for Ouster packages, matching the pattern used by Hesai, Robosense, and Continental:
nebula_ouster→src/nebula_ouster/nebula_ousternebula_ouster_common→src/nebula_ouster/nebula_ouster_commonnebula_ouster_decoders→src/nebula_ouster/nebula_ouster_decodersnebula_ouster_hw_interfaces→src/nebula_ouster/nebula_ouster_hw_interfaces2. Unit tests (
nebula_ouster_hw_interfaces/test/test_ouster_hw_interface.cpp)Added GTest-based unit tests for
OusterHwInterfacefollowing the same pattern astest_robosense_hw_interface.cpp:3. CMake test integration (
nebula_ouster_hw_interfaces/CMakeLists.txt)Added
BUILD_TESTINGblock withament_add_gtestmatching the structure of other vendor packages (Robosense, Hesai, Continental).