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fix: Implement tests for the added parameter interface methods, add m…
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…issing preferred_odom_frame to general spot config tests.

* default behavior without spot_name and frame_prefix parameters should still be preserved
* verifying that the spot_name parameter is correctly used when specified
* verifying that the frame_prefix parameter is correctly used when specified
* verifying that all fallback behaviors work as expected
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@Imaniac230
Imaniac230 committed Oct 27, 2024
1 parent 5819e30 commit cc023fc
Showing 1 changed file with 104 additions and 3 deletions.
107 changes: 104 additions & 3 deletions spot_driver/test/src/test_parameter_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,10 @@ using ::testing::UnorderedElementsAre;
constexpr auto kNodeName = "my_node_name";
constexpr auto kNamespace = "my_namespace";

static constexpr auto kSpotName = "my_spot_name";
static constexpr auto kFramePrefix = "some_random_prefix_/_";
static constexpr auto kFramePrefixSeparator = "/";

constexpr auto kEnvVarNameHostname = "SPOT_IP";
constexpr auto kEnvVarNamePort = "SPOT_PORT";
constexpr auto kEnvVarNameCertificate = "SPOT_CERTIFICATE";
Expand Down Expand Up @@ -117,7 +121,7 @@ TEST_F(RclcppParameterInterfaceTest, GetSpotNameWithNamespace) {
// GIVEN we create a RclcppParameterInterface using this node
RclcppParameterInterface parameter_interface{node};

// WHEN we call getSpotName
// WHEN we call getSpotNameWithFallbackToNamespace
// THEN the parameter interface returns the namespace of the node
EXPECT_THAT(parameter_interface.getSpotNameWithFallbackToNamespace(), StrEq(kNamespace));
}
Expand All @@ -128,7 +132,7 @@ TEST_F(RclcppParameterInterfaceTest, GetSpotNameWithEmptyNamespace) {
// GIVEN we create a RclcppParameterInterface using this node
RclcppParameterInterface parameter_interface{node};

// WHEN we call getSpotName
// WHEN we call getSpotNameWithFallbackToNamespace
// THEN the parameter interface returns an empty string
EXPECT_THAT(parameter_interface.getSpotNameWithFallbackToNamespace(), IsEmpty());
}
Expand All @@ -139,11 +143,29 @@ TEST_F(RclcppParameterInterfaceTest, GetSpotNameWithDefaultNamespace) {
// GIVEN we create a RclcppParameterInterface using this node
RclcppParameterInterface parameter_interface{node};

// WHEN we call getSpotName
// WHEN we call getSpotNameWithFallbackToNamespace
// THEN the parameter interface returns an empty string
EXPECT_THAT(parameter_interface.getSpotNameWithFallbackToNamespace(), IsEmpty());
}

TEST_F(RclcppParameterInterfaceTest, GetSpotNameFromExplicitParameter) {
// GIVEN we create rclcpp nodes with and without a specific namespace
const auto node = std::make_shared<rclcpp::Node>(kNodeName);
const auto namespaced_node = std::make_shared<rclcpp::Node>(kNodeName, kNamespace);
// GIVEN we set the spot name config parameter to an explicit value
node->declare_parameter("spot_name", kSpotName);
namespaced_node->declare_parameter("spot_name", kSpotName);

// GIVEN we create a RclcppParameterInterface using these nodes
RclcppParameterInterface parameter_interface_a{node};
RclcppParameterInterface parameter_interface_b{namespaced_node};

// WHEN we call getSpotNameWithFallbackToNamespace
// THEN the parameter interface returns the explicit spot name in both cases
EXPECT_THAT(parameter_interface_a.getSpotNameWithFallbackToNamespace(), StrEq(kSpotName));
EXPECT_THAT(parameter_interface_b.getSpotNameWithFallbackToNamespace(), StrEq(kSpotName));
}

TEST_F(RclcppParameterInterfaceEnvVarTest, GetSpotConfigFromEnvVars) {
// GIVEN we declare environment variables for Spot's hostname, username, and password
constexpr auto hostname_env_var = "10.0.20.5";
Expand Down Expand Up @@ -195,6 +217,9 @@ TEST_F(RclcppParameterInterfaceEnvVarTest, GetSpotConfigFromParameters) {
node_->declare_parameter("publish_depth", publish_depth_images_parameter);
constexpr auto publish_depth_registered_images_parameter = false;
node_->declare_parameter("publish_depth_registered", publish_depth_registered_images_parameter);
constexpr auto preferred_odom_frame_parameter = "vision";
node_->declare_parameter("preferred_odom_frame", preferred_odom_frame_parameter);
node_->declare_parameter("frame_prefix", kFramePrefix);

// GIVEN we create a RclcppParameterInterface using the node
RclcppParameterInterface parameter_interface{node_};
Expand All @@ -213,6 +238,8 @@ TEST_F(RclcppParameterInterfaceEnvVarTest, GetSpotConfigFromParameters) {
EXPECT_THAT(parameter_interface.getPublishRGBImages(), Eq(publish_rgb_images_parameter));
EXPECT_THAT(parameter_interface.getPublishDepthImages(), Eq(publish_depth_images_parameter));
EXPECT_THAT(parameter_interface.getPublishDepthRegisteredImages(), Eq(publish_depth_registered_images_parameter));
EXPECT_THAT(parameter_interface.getPreferredOdomFrame(), StrEq(preferred_odom_frame_parameter));
EXPECT_THAT(parameter_interface.getFramePrefix(), Optional(kFramePrefix));
}

TEST_F(RclcppParameterInterfaceEnvVarTest, GetSpotConfigEnvVarsOverruleParameters) {
Expand Down Expand Up @@ -272,6 +299,8 @@ TEST_F(RclcppParameterInterfaceEnvVarTest, GetConfigDefaults) {
EXPECT_THAT(parameter_interface.getPublishRGBImages(), IsTrue());
EXPECT_THAT(parameter_interface.getPublishDepthImages(), IsTrue());
EXPECT_THAT(parameter_interface.getPublishDepthRegisteredImages(), IsTrue());
EXPECT_THAT(parameter_interface.getPreferredOdomFrame(), StrEq("odom"));
EXPECT_THAT(parameter_interface.getFramePrefix(), Eq(std::nullopt));
}

TEST_F(RclcppParameterInterfaceEnvVarTest, GetCamerasUsedDefaultWithArm) {
Expand Down Expand Up @@ -362,4 +391,76 @@ TEST_F(RclcppParameterInterfaceEnvVarTest, GetCamerasUsedWithInvalidCamera) {
EXPECT_THAT(cameras_used_no_arm.has_value(), IsFalse());
EXPECT_THAT(cameras_used_no_arm.error(), StrEq("Cannot convert camera 'not_a_camera' to a SpotCamera."));
}

TEST_F(RclcppParameterInterfaceTest, GetFramePrefixFromNamespaceFallback) {
// GIVEN we create rclcpp nodes with and without a specific namespace
const auto node = std::make_shared<rclcpp::Node>(kNodeName);
const auto namespaced_node = std::make_shared<rclcpp::Node>(kNodeName, kNamespace);
// GIVEN we create a RclcppParameterInterface using these nodes
RclcppParameterInterface parameter_interface_a{node};
RclcppParameterInterface parameter_interface_b{namespaced_node};

// WHEN we call getFramePrefixWithDefaultFallback
// THEN the parameter interface returns a frame prefix based on the nodes' namespaces
const std::string expected_prefix = std::string(kNamespace) + kFramePrefixSeparator;
EXPECT_THAT(parameter_interface_a.getFramePrefixWithDefaultFallback(), StrEq(""));
EXPECT_THAT(parameter_interface_b.getFramePrefixWithDefaultFallback(), StrEq(expected_prefix));
}

TEST_F(RclcppParameterInterfaceTest, GetFramePrefixFromSpotNameFallback) {
// GIVEN we create rclcpp nodes with and without a specific namespace
const auto node = std::make_shared<rclcpp::Node>(kNodeName);
const auto namespaced_node = std::make_shared<rclcpp::Node>(kNodeName, kNamespace);
// GIVEN we set the spot name config parameter to an explicit value
node->declare_parameter("spot_name", kSpotName);
namespaced_node->declare_parameter("spot_name", kSpotName);

// GIVEN we create a RclcppParameterInterface using these nodes
RclcppParameterInterface parameter_interface_a{node};
RclcppParameterInterface parameter_interface_b{namespaced_node};

// WHEN we call getFramePrefixWithDefaultFallback
// THEN the parameter interface returns a frame prefix based on the spot name in both cases
const std::string expected_prefix = std::string(kSpotName) + kFramePrefixSeparator;
EXPECT_THAT(parameter_interface_a.getFramePrefixWithDefaultFallback(), StrEq(expected_prefix));
EXPECT_THAT(parameter_interface_b.getFramePrefixWithDefaultFallback(), StrEq(expected_prefix));
}

TEST_F(RclcppParameterInterfaceTest, GetFramePrefixFromExplicitParameter) {
const auto verifyExpectedFramePrefix = [](std::shared_ptr<rclcpp::Node> node,
std::shared_ptr<rclcpp::Node> namespaced_node) -> void {
// GIVEN we create a RclcppParameterInterface using these nodes
RclcppParameterInterface parameter_interface_a{node};
RclcppParameterInterface parameter_interface_b{namespaced_node};

// WHEN we call getFramePrefixWithDefaultFallback
// THEN the parameter interface returns the explicit frame prefix in both cases
EXPECT_THAT(parameter_interface_a.getFramePrefixWithDefaultFallback(), StrEq(kFramePrefix));
EXPECT_THAT(parameter_interface_b.getFramePrefixWithDefaultFallback(), StrEq(kFramePrefix));
};

// Set up first test scenario.
// GIVEN we create rclcpp nodes with and without a specific namespace
auto node = std::make_shared<rclcpp::Node>(kNodeName);
auto namespaced_node = std::make_shared<rclcpp::Node>(kNodeName, kNamespace);
// GIVEN we only set the frame prefix config parameter to an explicit value, without any spot name
node->declare_parameter("frame_prefix", kFramePrefix);
namespaced_node->declare_parameter("frame_prefix", kFramePrefix);
// Finish first test scenario.
verifyExpectedFramePrefix(node, namespaced_node);

// Set up second test scenario.
// NOTE: We're creating new nodes for the second test scenario, since we can't undeclare statically typed parameters.
node.reset();
namespaced_node.reset();
node = std::make_shared<rclcpp::Node>(kNodeName);
namespaced_node = std::make_shared<rclcpp::Node>(kNodeName, kNamespace);
// GIVEN we set both, the spot name and frame prefix, config parameters to explicit values
node->declare_parameter("spot_name", kSpotName);
namespaced_node->declare_parameter("spot_name", kSpotName);
node->declare_parameter("frame_prefix", kFramePrefix);
namespaced_node->declare_parameter("frame_prefix", kFramePrefix);
// Finish second test scenario.
verifyExpectedFramePrefix(node, namespaced_node);
}
} // namespace spot_ros2::test

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