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Refactor Test Fixture to support different worlds #160

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merged 3 commits into from
Mar 2, 2022
Merged

Refactor Test Fixture to support different worlds #160

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61bbcf0
Refactor Test Fixture to support different worlds
arjo129 Feb 28, 2022
866f8e8
docs update
arjo129 Feb 28, 2022
73e6519
Address PR feedback
arjo129 Mar 2, 2022
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26 changes: 19 additions & 7 deletions lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -50,12 +50,13 @@ double angleDiff(double _a, double _b)
return diff.Radian();
}

/// \brief Convenient fixture that provides boilerplate code common to most
/// LRAUV tests.
class LrauvTestFixture : public ::testing::Test
/// \brief Abstract base class for fixture that provides boilerplate code common
/// to most LRAUV tests.
class LrauvTestFixtureBase : public ::testing::Test
{
// Documentation inherited
protected: void SetUp() override
// Setup the specified world.
// \param[in] _worldName Name of the world to load.
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Suggested change
// \param[in] _worldName Name of the world to load.
/// \param[in] _worldName Name of the world to load.

public: void SetUp(const std::string &_worldName)
{
ignition::common::Console::SetVerbosity(4);

Expand All @@ -66,12 +67,12 @@ class LrauvTestFixture : public ::testing::Test
commandTopic);

auto stateTopic = "/tethys/state_topic";
this->node.Subscribe(stateTopic, &LrauvTestFixture::OnState, this);
this->node.Subscribe(stateTopic, &LrauvTestFixtureBase::OnState, this);

// Setup fixture
this->fixture = std::make_unique<ignition::gazebo::TestFixture>(
ignition::common::joinPaths(
std::string(PROJECT_SOURCE_PATH), "worlds", "buoyant_tethys.sdf"));
std::string(PROJECT_SOURCE_PATH), "worlds", _worldName));

fixture->OnPostUpdate(
[&](const ignition::gazebo::UpdateInfo &_info,
Expand Down Expand Up @@ -302,4 +303,15 @@ class LrauvTestFixture : public ::testing::Test
/// \brief Publishes commands
public: ignition::transport::Node::Publisher commandPub;
};


/// \brief Loads the default "buyant_tethys.sdf" world.
class LrauvTestFixture : public LrauvTestFixtureBase
{
/// Documentation inherited
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/// Documentation inherited
// Documentation inherited

So, within the Ignition codebase, we leave "Documentation inherited" comments to explain that we're not adding documentation on purpose. When it's not added, the documentation is taken from the base class. But if the comment is added with three ///, then that actually overrides the base class' doc block and writes "Documentation inherited" as the documentation.

Not important here since we're not generating docs for these classes, but I thought I should mention

protected: void SetUp() override
{
LrauvTestFixtureBase::SetUp("buoyant_tethys.sdf");
}
};
#endif