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feat(rtc_interface): add requested field (autowarefoundation#9202)
* add requested feature Signed-off-by: Go Sakayori <[email protected]> * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]> Co-authored-by: Satoshi OTA <[email protected]>
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planning/autoware_rtc_interface/test/test_rtc_interface.cpp
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| // Copyright 2024 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // 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/rtc_interface/rtc_interface.hpp" | ||
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| #include <autoware/universe_utils/ros/uuid_helper.hpp> | ||
| #include <rclcpp/node.hpp> | ||
| #include <rclcpp/time.hpp> | ||
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| #include "tier4_rtc_msgs/msg/detail/command__struct.hpp" | ||
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| #include <gtest/gtest.h> | ||
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| using tier4_rtc_msgs::msg::State; | ||
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| namespace autoware::rtc_interface | ||
| { | ||
| class RTCInterfaceTest : public ::testing::Test | ||
| { | ||
| public: | ||
| void update_cooperate_command_status(const std::vector<CooperateCommand> & commands) | ||
| { | ||
| rtc_interface_->updateCooperateCommandStatus(commands); | ||
| } | ||
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| std::vector<CooperateCommand> get_stored_command() { return rtc_interface_->stored_commands_; } | ||
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| protected: | ||
| rclcpp::Node::SharedPtr node; | ||
| std::shared_ptr<autoware::rtc_interface::RTCInterface> rtc_interface_; | ||
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| void SetUp() override | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| node = std::make_shared<rclcpp::Node>("rtc_interface_node_test"); | ||
| rtc_interface_ = | ||
| std::make_shared<autoware::rtc_interface::RTCInterface>(node.get(), "TestRTC", false); | ||
| } | ||
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| void TearDown() override { rclcpp::shutdown(); } | ||
| }; | ||
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| TEST_F(RTCInterfaceTest, uuid_to_string) | ||
| { | ||
| auto uuid = autoware::universe_utils::generateUUID(); | ||
| rclcpp::Time stamp(1.0, 0); | ||
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| // Condition: no registered uuid | ||
| EXPECT_FALSE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: register uuid with WAITING_FOR_EXECUTION | ||
| rtc_interface_->updateCooperateStatus( | ||
| uuid, true, State::WAITING_FOR_EXECUTION, 10.0, 100.0, stamp); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: remove registered uuid | ||
| rtc_interface_->removeCooperateStatus(uuid); | ||
| EXPECT_FALSE(rtc_interface_->isRegistered(uuid)); | ||
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| // Condition: register uuid with FAILED (should start with WAITING_FOR_EXECUTION) | ||
| rtc_interface_->updateCooperateStatus(uuid, true, State::FAILED, 10.0, 100.0, stamp); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: update uuid as force activated | ||
| std::vector<CooperateCommand> commands; | ||
| CooperateCommand command; | ||
| command.uuid = uuid; | ||
| command.command.type = tier4_rtc_msgs::msg::Command::ACTIVATE; | ||
| commands.push_back(command); | ||
| rtc_interface_->updateCooperateStatus(uuid, false, State::RUNNING, 10.0, 100.0, stamp); | ||
| update_cooperate_command_status(commands); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: terminate uuid by transiting to SUCCEEDED | ||
| rtc_interface_->updateCooperateStatus(uuid, false, State::SUCCEEDED, 10.0, 100.0, stamp); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: clear registered uuid | ||
| rtc_interface_->clearCooperateStatus(); | ||
| EXPECT_FALSE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_TRUE(get_stored_command().empty()); | ||
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| // Condition: update uuid as force deactivated | ||
| commands.front().command.type = tier4_rtc_msgs::msg::Command::DEACTIVATE; | ||
| rtc_interface_->updateCooperateStatus( | ||
| uuid, true, State::WAITING_FOR_EXECUTION, 10.0, 100.0, stamp); | ||
| rtc_interface_->updateCooperateStatus(uuid, true, State::RUNNING, 10.0, 100.0, stamp); | ||
| update_cooperate_command_status(commands); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: uuid transiting to ABORTING | ||
| rtc_interface_->updateCooperateStatus(uuid, true, State::ABORTING, 10.0, 100.0, stamp); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: uuid transiting to FAILED | ||
| rtc_interface_->updateCooperateStatus(uuid, true, State::FAILED, 10.0, 100.0, stamp); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isTerminated(uuid)); | ||
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| rtc_interface_->clearCooperateStatus(); | ||
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| // Condition: register uuid with request to operator and transit to RUNNING (which shouldn't be | ||
| // allowed) | ||
| rtc_interface_->updateCooperateStatus( | ||
| uuid, true, State::WAITING_FOR_EXECUTION, 10.0, 100.0, stamp, true); | ||
| rtc_interface_->updateCooperateStatus(uuid, true, State::RUNNING, 10.0, 100.0, stamp); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); | ||
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| // Condition: update uuid cooperate command | ||
| commands.front().command.type = tier4_rtc_msgs::msg::Command::ACTIVATE; | ||
| update_cooperate_command_status(commands); | ||
| EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isActivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isForceActivated(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); | ||
| EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); | ||
| EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); | ||
| } | ||
| } // namespace autoware::rtc_interface |