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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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14
test/velocity_arbiter_test.cpp
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@@ -97,7 +97,7 @@ TEST(VelocityLimits, DescribeMarksReverseAsDisabledWhenZero)
{
VelocityLimits limits = baseLimits();
limits.min_vel_x = 0.0;
EXPECT_NE(limits.describe().find("cấm lùi"), std::string::npos);
EXPECT_NE(limits.describe().find("reversing forbidden"), std::string::npos);
}
TEST(VelocityArbiter, RefusesToEmitBeforeConfigure)
@@ -134,7 +134,7 @@ TEST(VelocityArbiter, NoneSourceEmitsExactZeroImmediately)
const auto cmd = arbiter.arbitrate(VelocitySource::kNone, twist(0.5, 0.8), kDt);
EXPECT_DOUBLE_EQ(cmd.linear.x, 0.0) << "lệnh 0 phải tức thì, không giảm tốc dần";
EXPECT_DOUBLE_EQ(cmd.linear.x, 0.0) << "a zero command must be immediate, not ramped down";
EXPECT_DOUBLE_EQ(cmd.angular.z, 0.0);
EXPECT_TRUE(arbiter.stopped());
}
@@ -161,7 +161,8 @@ TEST(VelocityArbiter, NaNIsBlockedAndCounted)
const auto cmd = arbiter.arbitrate(VelocitySource::kController, twist(nan_value, 0.3), kDt);
EXPECT_DOUBLE_EQ(cmd.linear.x, 0.0);
EXPECT_DOUBLE_EQ(cmd.angular.z, 0.0) << "một trục hỏng làm hỏng cả lệnh, không sửa từng phần";
EXPECT_DOUBLE_EQ(cmd.angular.z, 0.0) << "one broken axis breaks the whole command, it is not "
"patched per axis";
EXPECT_EQ(arbiter.nonFiniteRejections(), 1u);
}
@@ -193,7 +194,8 @@ TEST(VelocityArbiter, ReverseVelocityIsClampedToMinNotToZero)
const auto cmd = arbiter.arbitrate(VelocitySource::kController, twist(-9.0, 0.0), kDt);
EXPECT_DOUBLE_EQ(cmd.linear.x, -0.2) << "min_vel_x là trần LÙI, không phải cận dưới bằng 0";
EXPECT_DOUBLE_EQ(cmd.linear.x, -0.2) << "min_vel_x is the REVERSE limit, not a lower bound of "
"zero";
}
TEST(VelocityArbiter, ReverseIsForbiddenWhenMinVelXIsZero)
@@ -290,11 +292,11 @@ TEST(VelocityArbiter, SourceHandoverInsertsExactlyOneZeroCycle)
ASSERT_NEAR(controlling.linear.x, 0.4, 1e-9);
const auto handover = arbiter.arbitrate(VelocitySource::kRecovery, twist(-0.15, 0.0), kDt);
EXPECT_DOUBLE_EQ(handover.linear.x, 0.0) << "cycle bàn giao phải là 0";
EXPECT_DOUBLE_EQ(handover.linear.x, 0.0) << "the handover cycle must be 0";
EXPECT_EQ(arbiter.handoverCycles(), 1u);
const auto recovering = arbiter.arbitrate(VelocitySource::kRecovery, twist(-0.15, 0.0), kDt);
EXPECT_NEAR(recovering.linear.x, -0.15, 1e-9) << "chỉ đúng MỘT cycle 0, không nhiều hơn";
EXPECT_NEAR(recovering.linear.x, -0.15, 1e-9) << "exactly ONE zero cycle, no more";
}
TEST(VelocityArbiter, HandoverWorksInBothDirections)