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mock and test stubs
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‎src/viam/sdk/tests/CMakeLists.txt‎

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@@ -30,6 +30,7 @@ target_sources(viamsdk_test
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mocks/mock_motor.cpp
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mocks/mock_motion.cpp
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mocks/mock_movement_sensor.cpp
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mocks/mock_navigation.cpp
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mocks/mock_pose_tracker.cpp
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mocks/mock_power_sensor.cpp
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mocks/mock_sensor.cpp
@@ -55,6 +56,7 @@ viamcppsdk_add_boost_test(test_mlmodel.cpp)
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viamcppsdk_add_boost_test(test_motor.cpp)
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viamcppsdk_add_boost_test(test_motion.cpp)
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viamcppsdk_add_boost_test(test_movement_sensor.cpp)
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viamcppsdk_add_boost_test(test_navigation.cpp)
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viamcppsdk_add_boost_test(test_pose_tracker.cpp)
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viamcppsdk_add_boost_test(test_power_sensor.cpp)
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viamcppsdk_add_boost_test(test_proto_value.cpp)

‎src/viam/sdk/tests/mocks/mock_navigation.cpp‎

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#include <viam/sdk/tests/mocks/mock_navigation.hpp>
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#include <chrono>
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#include <viam/sdk/common/private/utils.hpp>
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#include <viam/sdk/common/utils.hpp>
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#include <viam/sdk/services/motion.hpp>
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#include <viam/sdk/spatialmath/geometry.hpp>
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#include <viam/sdk/spatialmath/orientation_types.hpp>
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#include <viam/sdk/tests/test_utils.hpp>
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namespace viam {
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namespace sdktests {
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namespace navigation {
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using namespace viam::sdk;
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Navigation::Mode MockNav::get_mode(const ProtoStruct& extra) {
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return mode;
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}
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void MockNav::set_mode(const Mode mode, const ProtoStruct& extra) {
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this->mode = mode;
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}
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Navigation::LocationResponse MockNav::get_location(const ProtoStruct& extra) {
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return loc;
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}
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std::unique_ptr<std::vector<Navigation::Waypoint>> MockNav::get_waypoints(
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const ProtoStruct& extra) {
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return std::make_unique<std::vector<Waypoint>>(waypoints);
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}
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void MockNav::add_waypoint(const geo_point& location, const ProtoStruct& extra) {
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waypoints.push_back(Waypoint{std::to_string(next_waypoint_id++), location});
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}
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void MockNav::remove_waypoint(const std::string id, const ProtoStruct& extra) {
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for (auto it = waypoints.begin(); it != waypoints.end(); ++it) {
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if (it->id == id) {
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waypoints.erase(it);
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break;
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}
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}
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}
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std::unique_ptr<std::vector<geo_geometry>> MockNav::get_obstacles(const ProtoStruct& extra) {
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return std::make_unique<std::vector<geo_geometry>>(obstacles);
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}
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std::unique_ptr<std::vector<Navigation::Path>> MockNav::get_paths(const ProtoStruct& extra) {
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return std::make_unique<std::vector<Path>>(paths);
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}
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Navigation::Properties MockNav::get_properties() {
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return Properties{map_type};
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}
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ProtoStruct MockNav::do_command(const ProtoStruct& command) {
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return ProtoStruct{};
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}
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} // namespace navigation
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} // namespace sdktests
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} // namespace viam

‎src/viam/sdk/tests/mocks/mock_navigation.hpp‎

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#pragma once
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// #include <viam/sdk/common/pose.hpp>
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// #include <viam/sdk/common/proto_value.hpp>
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// #include <viam/sdk/resource/resource_api.hpp>
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// #include <viam/sdk/services/motion.hpp>
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#include <viam/sdk/services/navigation.hpp>
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// #include <viam/sdk/spatialmath/geometry.hpp>
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namespace viam {
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namespace sdktests {
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namespace navigation {
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using namespace sdk;
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class MockNav : public sdk::Navigation {
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public:
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Mode get_mode(const ProtoStruct& extra) override;
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void set_mode(const Mode mode, const ProtoStruct& extra) override;
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LocationResponse get_location(const ProtoStruct& extra) override;
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std::unique_ptr<std::vector<Waypoint>> get_waypoints(const ProtoStruct& extra) override;
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void add_waypoint(const geo_point& location, const ProtoStruct& extra) override;
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void remove_waypoint(const std::string id, const ProtoStruct& extra) override;
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std::unique_ptr<std::vector<geo_geometry>> get_obstacles(const ProtoStruct& extra) override;
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std::unique_ptr<std::vector<Path>> get_paths(const ProtoStruct& extra) override;
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Properties get_properties() override;
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ProtoStruct do_command(const ProtoStruct& command) override;
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Mode mode;
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LocationResponse loc;
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std::vector<Waypoint> waypoints;
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int next_waypoint_id = 0;
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std::vector<geo_geometry> obstacles;
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std::vector<Path> paths;
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MapType map_type;
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};
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// sdk::pose_in_frame init_fake_pose();
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// sdk::pose_in_frame fake_pose();
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// sdk::Name fake_component_name();
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// sdk::Name fake_slam_name();
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// sdk::Name fake_movement_sensor_name();
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// sdk::geo_point fake_geo_point();
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// std::vector<sdk::geo_geometry> fake_obstacles();
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// std::shared_ptr<sdk::motion_configuration> fake_motion_configuration();
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// std::vector<sdk::geo_geometry> fake_bounding_regions();
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// class MockMotion : public sdk::Motion {
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// public:
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// bool move(const sdk::pose_in_frame& destination,
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// const sdk::Name& component_name,
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// const std::shared_ptr<sdk::WorldState>& world_state,
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// const std::shared_ptr<constraints>& constraints,
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// const sdk::ProtoStruct& extra) override;
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// std::string move_on_map(const sdk::pose& destination,
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// const sdk::Name& component_name,
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// const sdk::Name& slam_name,
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// const std::shared_ptr<sdk::motion_configuration>&
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// motion_configuration, const std::vector<sdk::GeometryConfig>&
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// obstacles, const sdk::ProtoStruct& extra) override;
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// std::string move_on_globe(
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// const sdk::geo_point& destination,
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// const boost::optional<double>& heading,
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// const sdk::Name& component_name,
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// const sdk::Name& movement_sensor_name,
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// const std::vector<sdk::geo_geometry>& obstacles,
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// const std::shared_ptr<sdk::motion_configuration>& motion_configuration,
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// const std::vector<sdk::geo_geometry>& bounding_regions,
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// const sdk::ProtoStruct& extra) override;
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// sdk::pose_in_frame get_pose(
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// const sdk::Name& component_name,
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// const std::string& destination_frame,
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// const std::vector<sdk::WorldState::transform>& supplemental_transforms,
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// const sdk::ProtoStruct& extra) override;
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// plan_with_status get_plan(const sdk::Name& component_name,
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// const std::string& execution_id,
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// const sdk::ProtoStruct& extra) override;
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// std::pair<plan_with_status, std::vector<plan_with_status>> get_plan_with_replan_history(
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// const sdk::Name& component_name,
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// const std::string& execution_id,
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// const sdk::ProtoStruct& extra) override;
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// plan_with_status get_latest_plan(const sdk::Name& component_name,
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// const sdk::ProtoStruct& extra) override;
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// std::pair<plan_with_status, std::vector<plan_with_status>>
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// get_latest_plan_with_replan_history(
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// const sdk::Name& component_name, const sdk::ProtoStruct& extra) override;
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// std::vector<plan_status_with_id> list_plan_statuses(const sdk::ProtoStruct& extra) override;
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// std::vector<plan_status_with_id> list_active_plan_statuses(
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// const sdk::ProtoStruct& extra) override;
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// void stop_plan(const sdk::Name& name, const sdk::ProtoStruct& extra) override;
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// sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;
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// static std::shared_ptr<MockMotion> get_mock_motion();
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// static plan_status fake_plan_status();
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// static plan_with_status fake_plan_with_status();
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// static plan_status_with_id fake_plan_status_with_id();
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// // These variables allow the testing infra to `peek` into the mock
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// // and ensure that the correct values were passed
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// sdk::pose_in_frame current_location;
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// sdk::pose peek_current_pose;
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// sdk::Name peek_component_name;
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// sdk::Name peek_movement_sensor_name;
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// sdk::Name peek_slam_name;
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// sdk::geo_point peek_destination;
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// std::string peek_destination_frame;
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// double peek_heading;
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// bool peek_stop_plan_called = false;
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// std::string peek_debug_key;
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// std::vector<sdk::geo_geometry> peek_obstacles;
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// std::vector<sdk::GeometryConfig> peek_map_obstacles;
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// std::shared_ptr<constraints> peek_constraints;
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// std::shared_ptr<sdk::motion_configuration> peek_motion_configuration;
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// std::vector<sdk::geo_geometry> peek_bounding_regions;
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// std::shared_ptr<sdk::WorldState> peek_world_state;
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// MockMotion(std::string name)
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// : sdk::Motion(std::move(name)), current_location(init_fake_pose()){};
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// };
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} // namespace navigation
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} // namespace sdktests
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} // namespace viam

‎src/viam/sdk/tests/test_navigation.cpp‎

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#define BOOST_TEST_MODULE test module test_navigation
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#include <boost/test/included/unit_test.hpp>
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#include <viam/sdk/services/navigation.hpp>
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#include <viam/sdk/tests/mocks/mock_navigation.hpp>
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namespace viam {
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namespace sdktests {
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namespace navigation {
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using namespace viam::sdk;
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BOOST_AUTO_TEST_CASE(nav_mode) {
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// test get_mode and set_mode
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}
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BOOST_AUTO_TEST_CASE(nav_get_location) {
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}
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BOOST_AUTO_TEST_CASE(nav_waypoints) {
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// get, add, remove
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}
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BOOST_AUTO_TEST_CASE(nav_obstacles) {
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}
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BOOST_AUTO_TEST_CASE(nav_paths) {
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}
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} // namespace navigation
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} // namespace sdktests
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} // namespace viam

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