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ref(traffic_simulator): use
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namespace traffic_simulator::lanelet_wrapper::tests
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@dmoszynski
dmoszynski committed Dec 9, 2024
1 parent b68fcc5 commit cfd0cc0
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Showing 6 changed files with 296 additions and 457 deletions.
204 changes: 95 additions & 109 deletions simulation/traffic_simulator/test/src/lanelet_wrapper/test_distance.cpp
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78 changes: 30 additions & 48 deletions simulation/traffic_simulator/test/src/lanelet_wrapper/test_lane_change.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,45 +20,39 @@ int main(int argc, char ** argv)
return RUN_ALL_TESTS();
}

namespace traffic_simulator::lanelet_wrapper::tests
{
/**
* @note Testcase for countLaneChanges() function
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, CountLaneChangesAlongRoute)
{
using traffic_simulator::helper::constructLaneletPose;
traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration;
using helper::constructLaneletPose;
RoutingConfiguration lane_changeable_routing_configuration;
lane_changeable_routing_configuration.allow_lane_change = true;
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 3002175, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 3002175, lane_changeable_routing_configuration),
std::make_pair(1, 0));
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 3002182, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 3002182, lane_changeable_routing_configuration),
std::make_pair(1, 0));
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 199, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 199, lane_changeable_routing_configuration),
std::make_pair(1, 0));
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 3002176, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 3002176, lane_changeable_routing_configuration),
std::make_pair(0, 0));
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 200, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 200, lane_changeable_routing_configuration),
std::make_pair(0, 0));
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 201, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 201, lane_changeable_routing_configuration),
std::make_pair(0, 1));
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 202, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 202, lane_changeable_routing_configuration),
std::make_pair(0, 2));
EXPECT_EQ(
traffic_simulator::lanelet_wrapper::lane_change::countLaneChanges(
3002176, 206, lane_changeable_routing_configuration),
lane_change::countLaneChanges(3002176, 206, lane_changeable_routing_configuration),
std::make_pair(0, 2));
}

Expand All @@ -71,8 +65,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_straig
{
const lanelet::Id start_and_end_lanelet = 199;
const auto result_lanelet =
traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
start_and_end_lanelet, traffic_simulator::lane_change::Direction::STRAIGHT);
lane_change::laneChangeableLaneletId(start_and_end_lanelet, lane_change::Direction::STRAIGHT);

EXPECT_TRUE(result_lanelet.has_value());
EXPECT_EQ(start_and_end_lanelet, result_lanelet);
Expand All @@ -85,9 +78,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_straig
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_leftNoChangeable)
{
EXPECT_FALSE(traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
199, traffic_simulator::lane_change::Direction::LEFT)
.has_value());
EXPECT_FALSE(lane_change::laneChangeableLaneletId(199, lane_change::Direction::LEFT).has_value());
}

/**
Expand All @@ -98,8 +89,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_leftNo
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_leftChangeable)
{
const auto result_lanelet =
traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
200, traffic_simulator::lane_change::Direction::LEFT);
lane_change::laneChangeableLaneletId(200, lane_change::Direction::LEFT);

EXPECT_TRUE(result_lanelet.has_value());
EXPECT_EQ(result_lanelet.value(), 199);
Expand All @@ -112,9 +102,8 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_leftCh
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_rightNoChangeable)
{
EXPECT_FALSE(traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
202, traffic_simulator::lane_change::Direction::RIGHT)
.has_value());
EXPECT_FALSE(
lane_change::laneChangeableLaneletId(202, lane_change::Direction::RIGHT).has_value());
}

/**
Expand All @@ -125,8 +114,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_rightN
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_rightChangeable)
{
const auto result_lanelet =
traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
200, traffic_simulator::lane_change::Direction::RIGHT);
lane_change::laneChangeableLaneletId(200, lane_change::Direction::RIGHT);

EXPECT_TRUE(result_lanelet.has_value());
EXPECT_EQ(result_lanelet.value(), 201);
Expand All @@ -141,8 +129,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_rightC
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift2LeftPossible)
{
const auto result_lanelet =
traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
201, traffic_simulator::lane_change::Direction::LEFT, 2);
lane_change::laneChangeableLaneletId(201, lane_change::Direction::LEFT, 2);

EXPECT_TRUE(result_lanelet.has_value());
EXPECT_EQ(result_lanelet.value(), 199);
Expand All @@ -157,9 +144,8 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift2
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift2LeftNotPossible)
{
EXPECT_FALSE(traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
200, traffic_simulator::lane_change::Direction::LEFT, 2)
.has_value());
EXPECT_FALSE(
lane_change::laneChangeableLaneletId(200, lane_change::Direction::LEFT, 2).has_value());
}

/**
Expand All @@ -171,8 +157,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift2
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift2RightPossible)
{
const auto result_lanelet =
traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
200, traffic_simulator::lane_change::Direction::RIGHT, 2);
lane_change::laneChangeableLaneletId(200, lane_change::Direction::RIGHT, 2);

EXPECT_TRUE(result_lanelet.has_value());
EXPECT_EQ(result_lanelet.value(), 202);
Expand All @@ -187,9 +172,8 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift2
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift2RightNotPossible)
{
EXPECT_FALSE(traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
201, traffic_simulator::lane_change::Direction::RIGHT, 2)
.has_value());
EXPECT_FALSE(
lane_change::laneChangeableLaneletId(201, lane_change::Direction::RIGHT, 2).has_value());
}

/**
Expand All @@ -199,8 +183,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift0
{
const lanelet::Id start_and_end_lanelet = 201;
const auto result_lanelet =
traffic_simulator::lanelet_wrapper::lane_change::laneChangeableLaneletId(
start_and_end_lanelet, traffic_simulator::lane_change::Direction::RIGHT, 0);
lane_change::laneChangeableLaneletId(start_and_end_lanelet, lane_change::Direction::RIGHT, 0);

EXPECT_TRUE(result_lanelet.has_value());
EXPECT_EQ(result_lanelet.value(), start_and_end_lanelet);
Expand All @@ -213,7 +196,7 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, getLaneChangeableLaneletId_shift0
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, canChangeLane_canChange)
{
EXPECT_TRUE(traffic_simulator::lanelet_wrapper::lane_change::canChangeLane(199, 200));
EXPECT_TRUE(lane_change::canChangeLane(199, 200));
}

/**
Expand All @@ -223,15 +206,14 @@ TEST_F(LaneletWrapperTest_FourTrackHighwayMap, canChangeLane_canChange)
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, canChangeLane_canNotChange)
{
EXPECT_FALSE(traffic_simulator::lanelet_wrapper::lane_change::canChangeLane(199, 201));
EXPECT_FALSE(lane_change::canChangeLane(199, 201));
}

/**
* @note Test function behavior when either of the lanelet ids is invalid.
*/
TEST_F(LaneletWrapperTest_FourTrackHighwayMap, canChangeLane_invalidLaneletId)
{
EXPECT_THROW(
traffic_simulator::lanelet_wrapper::lane_change::canChangeLane(1000003, 1000033),
std::runtime_error);
}
EXPECT_THROW(lane_change::canChangeLane(1000003, 1000033), std::runtime_error);
}
} // namespace traffic_simulator::lanelet_wrapper::tests
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