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optimal & fix file cmake

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duongtd
2026-08-03 22:41:32 +07:00
parent d8babff20b
commit 701d25f952
70 changed files with 5572 additions and 1146 deletions
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85
test/config_validation_test.cpp
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@@ -113,6 +113,37 @@ TEST(MoveBase2Config, ReadsEveryGroupFromYaml)
EXPECT_EQ(config.global_frame, "map");
EXPECT_EQ(config.robot_base_frame, "base_link");
EXPECT_EQ(config.recovery_namespace, "recovery");
EXPECT_FALSE(config.docking_requires_marker);
}
TEST(MoveBase2Config, MissionLayerIsEnabledByDefault)
{
// Mặc định bật: order VDA5050 đi qua mission layer và được cắt thành chặng. Đổi mặc định này là
// đổi hành vi của mọi order trên robot, nên nó được khoá lại bằng test.
const MoveBase2Config defaults;
EXPECT_TRUE(defaults.mission_layer_enabled);
EXPECT_EQ(defaults.mission_namespace, "mission_adapters");
}
TEST(MoveBase2Config, RejectsEnabledMissionLayerWithoutNamespace)
{
MoveBase2Config config = withRecoveryCount(loadFrom("move_base2"), 2);
config.mission_layer_enabled = true;
config.mission_namespace.clear();
std::string error;
EXPECT_FALSE(config.validate(error));
EXPECT_NE(error.find("mission_namespace"), std::string::npos) << error;
}
TEST(MoveBase2Config, DisabledMissionLayerDoesNotNeedANamespace)
{
MoveBase2Config config = withRecoveryCount(loadFrom("move_base2"), 2);
config.mission_layer_enabled = false;
config.mission_namespace.clear();
std::string error;
EXPECT_TRUE(config.validate(error)) << error;
}
TEST(MoveBase2Config, ReadsProfileBindingsFromNestedNamespaces)
@@ -121,12 +152,37 @@ TEST(MoveBase2Config, ReadsProfileBindingsFromNestedNamespaces)
EXPECT_EQ(config.position.global_planner_name, "TestGlobalPlanner");
EXPECT_EQ(config.position.local_planner_name, "TestLocalPlanner");
EXPECT_DOUBLE_EQ(config.position.default_xy_tolerance, 0.15);
// Ghép nối cần sai số chặt hơn nhiều — đây chính là thứ sáu entry point cũ khác nhau ở.
EXPECT_EQ(config.docking.global_planner_name, "TestDockPlanner");
EXPECT_DOUBLE_EQ(config.docking.default_xy_tolerance, 0.02);
EXPECT_DOUBLE_EQ(config.docking.default_yaw_tolerance, 0.02);
EXPECT_EQ(config.backup_global_planner_name, "TestBackupGlobalPlanner");
ASSERT_EQ(config.docking_marker_profiles.size(), 1U);
const auto trolley = config.docking_marker_profiles.find("trolley");
ASSERT_NE(trolley, config.docking_marker_profiles.end());
EXPECT_EQ(trolley->second.global_planner_name, "TestTrolleyDockPlanner");
EXPECT_EQ(trolley->second.local_planner_name, "TestTrolleyDockLocalPlanner");
}
TEST(MoveBase2ConfigRootProfile, LoadsIndependentPlannerPairsWithoutTheLegacyAdapter)
{
robot::NodeHandle root;
robot::NodeHandle profile_nh(root, "root_profiles");
const MoveBase2Config config = MoveBase2Config::load(profile_nh);
EXPECT_EQ(config.position.global_planner_name, "TestGlobalPlanner");
EXPECT_EQ(config.position.local_planner_name, "TestLocalPlanner");
EXPECT_EQ(config.docking.global_planner_name, "TestDockPlanner");
EXPECT_EQ(config.docking.local_planner_name, "TestLocalPlanner");
EXPECT_EQ(config.go_straight.global_planner_name, "TestStraightPlanner");
EXPECT_EQ(config.go_straight.local_planner_name, "TestStraightLocalPlanner");
EXPECT_EQ(config.rotate.global_planner_name, "TestRotatePlanner");
EXPECT_EQ(config.rotate.local_planner_name, "TestRotateLocalPlanner");
EXPECT_EQ(config.backup_global_planner_name, "TestBackupGlobalPlanner");
ASSERT_EQ(config.docking_marker_profiles.size(), 1U);
const auto trolley = config.docking_marker_profiles.find("trolley");
ASSERT_NE(trolley, config.docking_marker_profiles.end());
EXPECT_EQ(trolley->second.global_planner_name, "TestTrolleyDockPlanner");
EXPECT_EQ(trolley->second.local_planner_name, "TestTrolleyDockLocalPlanner");
EXPECT_FALSE(config.docking_requires_marker);
}
TEST(MoveBase2Config, LoadedConfigValidates)
@@ -170,17 +226,7 @@ TEST(MoveBase2Config, RejectsConfigWithNoLocalPlannerAtAll)
std::string error;
EXPECT_FALSE(config.validate(error))
<< "cấu hình này lúc chạy sẽ từ chối MỌI yêu cầu — phải chặn ngay lúc khởi động";
}
TEST(MoveBase2Config, RejectsNonPositiveToleranceOnConfiguredProfile)
{
MoveBase2Config config = minimalValid();
config.position.default_xy_tolerance = 0.0;
std::string error;
EXPECT_FALSE(config.validate(error));
EXPECT_NE(error.find("xy_goal_tolerance"), std::string::npos);
<< "this config would reject EVERY request at runtime — it must be caught at startup";
}
TEST(MoveBase2Config, PropagatesStateMachineValidationFailure)
@@ -267,9 +313,6 @@ TEST(MoveBase2ConfigLegacy, RootToleranceAppliesToEveryProfile)
MoveBase2Config config;
config.fromLegacyNodeHandle(nh);
EXPECT_DOUBLE_EQ(config.position.default_xy_tolerance, 0.25);
EXPECT_DOUBLE_EQ(config.docking.default_yaw_tolerance, 0.30);
EXPECT_DOUBLE_EQ(config.rotate.default_xy_tolerance, 0.25);
}
TEST(MoveBase2ConfigLegacy, ZeroPatienceBecomesOneControlCycleNotDisabled)
@@ -319,8 +362,10 @@ TEST(MoveBase2ConfigLegacy, AutoDetectPrefersTheModernSchema)
robot::NodeHandle root;
const MoveBase2Config config = MoveBase2Config::load(root);
EXPECT_EQ(config.robot_base_frame, "base_link") << "chọn nhầm schema gen-1 dù có namespace mới";
EXPECT_TRUE(config.sensors.laser_sor_enabled) << "khoá chỉ có ở schema mới không được đọc";
EXPECT_EQ(config.robot_base_frame, "base_link") << "picked the gen-1 schema even though the new "
"namespace exists";
EXPECT_TRUE(config.sensors.laser_sor_enabled) << "a key that only exists in the new schema was "
"not read";
}
TEST(MoveBase2ConfigLegacy, AutoDetectFallsBackToLegacyWhenNoModernNamespace)