simlibs tests#145
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jonyMarino merged 1 commit intomainfrom May 7, 2026
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* Fix simlibs test discovery and MSVC assimp build flags * Add pipeline to execute tests on PRs and merge with main * Add new tests for simlibs * Remove unnecesary test script * Update workflow to merge test into 1 action to test on windows * Comment line by line the test for core_sim * Comment line by line already existing tests * feat(physics): implement P1 test coverage for UnrealPhysics, PhysicsWorld, and MatlabPhysics backends - Expand UnrealPhysicsBody tests (gtest_unreal_physics.cpp): * Added InitializeUnrealPhysicsBody test: verify rotor wrench points collected * Added CalculateExternalWrench test: verify wrench aggregation and finiteness * Added WriteRobotData test: verify kinematics propagation to robot * Added SetCallbackSetExternalWrench test: verify callback invoked with valid wrench * Added SetWrenchesOnPhysicsBody test: verify model dispatch to body wrench calculation * Tests use TestUnrealPhysicsBody harness to expose protected members - Enhance PhysicsWorld tests (gtest_physics_world.cpp): * Added SetWrenchesOnPhysicsBodies test: verify wrench dispatch to all physics bodies * This covers the critical P1 gap for physics backend dispatch logic - Create MatlabPhysics test suite (gtest_matlab_physics.cpp): * Added constructor tests for MatlabPhysicsBody (default + from robot) * Added WriteRobotData test: verify kinematics propagation to robot * Added ReadRobotData test: verify robot state extraction for serialization * Added CalculateExternalWrench test: verify rotor wrench aggregation * Added MatlabPhysicsModel constructor and SetWrenchesOnPhysicsBody tests * Coverage focuses on unit-level behavior; integration tests with live Matlab marked as TODO - Update CMakeLists.txt to include gtest_matlab_physics.cpp in physics_gtests target Test results: - All 312 tests pass (100%) - Tests follow established pattern: Arrange/Act/Assert with line-specific inline comments - Comments are test-aware and describe specific code actions (not generic boilerplate) Test coverage improvements: - UnrealPhysics: 2 → 8 test cases (functional coverage of InitializeUnrealPhysicsBody, CalculateExternalWrench, callbacks) - PhysicsWorld: 4 → 5 test cases (explicit SetWrenchesOnPhysicsBodies dispatch test) - MatlabPhysics: 0 → 8 test cases (basic unit coverage of core lifecycle methods) * Refactor Ubuntu CI workflow to build and test SimLibs * Change build and test commands to release version --------- Co-authored-by: Jonathan <jony@iamaisim.com>
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About
This pull request introduces several improvements to the build system, test coverage, and CI workflows for the project. The main changes include enabling and expanding unit tests for
core_sim, adding new test cases, updating CMake configurations for better compatibility, and enhancing CI pipelines for both Windows and Linux environments.Test coverage and new tests:
testsubdirectory incore_simto be included whenBUILD_TESTINGis set, allowing unit tests to be built and run. (core_sim/CMakeLists.txt)core_sim/testsuite, including tests for control mapping, battery, gimbal, tilt, rotor/wheel settings, noise model utilities, and various message types. (core_sim/test/CMakeLists.txt) [1] [2]Actuator,Airspeed, andBarometerby adding structured comments that describe the Arrange-Act-Assert pattern and the purpose of each test. (core_sim/test/gtest_actuator.cpp,core_sim/test/gtest_airspeed.cpp,core_sim/test/gtest_barometer.cpp) [1] [2] [3] [4] [5]Build system improvements:
/EHscto the Assimp external project when building with MSVC, ensuring proper exception handling and avoiding warnings treated as errors. (CMakeLists.txt)CI/CD workflow enhancements:
test_linux_simlibs_debug.yml) to build and testsimlibsin debug mode on Linux, including installation of prerequisites and configuration for Clang 18 compatibility. (.github/workflows/test_linux_simlibs_debug.yml)main, increased the timeout, updated the checkout action, and added a step to runSimLibsdebug tests. (.github/workflows/test_windows.yml) [1] [2]These changes collectively improve the project's reliability, maintainability, and cross-platform support.
How Has This Been Tested?
Screenshots and videos (if appropriate):