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| // Copyright 2021 PickNik Inc | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the PickNik Inc nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
|
|
||
| #include <iostream> | ||
| #include <memory> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| #include "bio_ik/parameters.hpp" | ||
| #include "gtest/gtest.h" | ||
|
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| TEST(ParameterTests, DefaultValidMode) // NOLINT | ||
| { | ||
| // GIVEN a default constructed bio_ik::RosParameters | ||
| const auto ros_params = bio_ik::RosParameters{}; | ||
|
|
||
| // WHEN we call validate | ||
| const auto result = bio_ik::validate(ros_params); | ||
|
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| // THEN we expect the result to not contain an error | ||
| EXPECT_FALSE(result.has_value()) | ||
| << "bio_ik::validate returned error: " << *result; | ||
| } | ||
|
|
||
| TEST(ParameterTests, NotValidMode) // NOLINT | ||
| { | ||
| // GIVEN a bio_ik::RosParameters with an invalid mode | ||
| const auto ros_params = bio_ik::RosParameters{.mode = "invalid"}; | ||
|
|
||
| // WHEN we call validate | ||
| const auto result = bio_ik::validate(ros_params); | ||
|
|
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| // THEN we expect the result to contain an error | ||
| EXPECT_TRUE(result.has_value()) << "bio_ik::validate did not return an error"; | ||
| } | ||
|
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| TEST(ParameterTests, GetIsValid) // NOLIINT | ||
| { | ||
| // WHEN we call get_ros_parameters with no overridden parameters | ||
| const auto ros_params = | ||
| bio_ik::get_ros_parameters(std::make_shared<rclcpp::Node>("_")); | ||
|
|
||
| // THEN we expect the result to be valid | ||
| EXPECT_TRUE(ros_params.has_value()) | ||
| << "get_ros_parameters did not return a result"; | ||
| } | ||
|
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||
| TEST(ParameterTests, DefaultSameAsRosDefault) // NOLINT | ||
| { | ||
| // GIVEN a default constructed bio_ik::RosParameters | ||
| const auto default_ros_parameters = bio_ik::RosParameters{}; | ||
|
|
||
| // WHEN we create another one using the get_ros_parameters function without | ||
| // overriding any ros parameters | ||
| const auto ros_params = | ||
| bio_ik::get_ros_parameters(std::make_shared<rclcpp::Node>("_")); | ||
|
|
||
| // THEN we expect the result to have a value and that to be the same as the | ||
| // default constructed one except for the random seed | ||
| ASSERT_TRUE(ros_params.has_value()) | ||
| << "get_ros_parameters did not return a result"; | ||
| EXPECT_TRUE([](const auto& lhs, const auto& rhs) { | ||
| return std::tie(lhs.enable_profiler, lhs.mode, lhs.enable_counter, lhs.dpos, | ||
| lhs.drot, lhs.dtwist, lhs.skip_wipeout, lhs.population_size, | ||
| lhs.elite_count, lhs.enable_linear_fitness) == | ||
| std::tie(rhs.enable_profiler, rhs.mode, rhs.enable_counter, rhs.dpos, | ||
| rhs.drot, rhs.dtwist, rhs.skip_wipeout, rhs.population_size, | ||
| rhs.elite_count, rhs.enable_linear_fitness); | ||
| }(ros_params.value(), default_ros_parameters)) | ||
| << "\nget_ros_parameters: " + std::string(ros_params.value()) + | ||
| "\ndefault_ros_parameters: " + std::string(default_ros_parameters); | ||
| } | ||
|
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||
| TEST(ParameterTests, StringOperator) // NOLINT | ||
| { | ||
| // GIVEN a default constructed bio_ik::RosParameters | ||
| // WHEN we convert it to std::string | ||
| // THEN we don't expect it to not throw | ||
| EXPECT_NO_THROW(auto _ = std::string(bio_ik::RosParameters{})); | ||
| } | ||
|
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| TEST(ParameterTests, GetInvalidParameters) // NOLINT | ||
| { | ||
| // GIVEN a ros node with a parameter override | ||
| auto node = std::make_shared<rclcpp::Node>( | ||
| "_", rclcpp::NodeOptions().append_parameter_override( | ||
| "mode", rclcpp::ParameterValue("invalid"))); | ||
|
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| // WHEN we call get_ros_parameters | ||
| auto result = bio_ik::get_ros_parameters(node); | ||
|
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| // THEN we expect the result to have failed | ||
| EXPECT_FALSE(result.has_value()) | ||
| << "get_ros_parameters should have returned no value, returned: " + | ||
| std::string(result.value()); | ||
| } | ||
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| int main(int argc, char** argv) { | ||
| rclcpp::init(argc, argv); | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
|
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| int result = RUN_ALL_TESTS(); | ||
| rclcpp::shutdown(); | ||
| return result; | ||
| } |