optimal & fix file cmake

2026-08-03 22:32:40 +07:00
parent 89add78c7f
commit 887bff1b97
98 changed files with 8971 additions and 1339 deletions
--- a/test/registry_test.cpp
+++ b/test/registry_test.cpp
@@ -0,0 +1,181 @@
+/*********************************************************************
+ *
+ * Kiểm đường nạp plugin thật: YAML -> library_path -> Boost.DLL -> configure.
+ *
+ * Bản test cũ của gói KHÔNG kiểm được gì: nó `return` khi không nạp được plugin nào và `main` trả 0,
+ * nên "không plugin nào chạy" cũng in [PASS]. Test này phải fail được.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cstdlib>
+#include <memory>
+#include <string>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_registry.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryOutputType;
+using recovery_test::MockBehavior;
+using recovery_test::VelocityRig;
+
+TEST(Registry, LoadsDeclaredBehaviorsInOrder)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+
+  // Thứ tự CHÍNH LÀ hành vi: caller thử behavior 0 trước.
+  ASSERT_EQ(registry.size(), 3u);
+  EXPECT_EQ(registry.nameAt(0), "wait");
+  EXPECT_EQ(registry.nameAt(1), "rotate");
+  EXPECT_EQ(registry.nameAt(2), "back_up");
+}
+
+TEST(Registry, LoadedBehaviorsReportCorrectOutputKind)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+  ASSERT_EQ(registry.size(), 3u);
+
+  EXPECT_EQ(registry.at(0)->outputKind(), RecoveryOutputType::kNone);      // wait
+  EXPECT_EQ(registry.at(1)->outputKind(), RecoveryOutputType::kVelocity);  // rotate
+  EXPECT_EQ(registry.at(2)->outputKind(), RecoveryOutputType::kVelocity);  // back_up
+}
+
+TEST(Registry, PerInstanceParamsComeFromItsOwnNamespace)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+
+  // `recovery/rotate/timeout: 20.0`, `recovery/back_up/timeout: 15.0`, `recovery/wait` không khai.
+  EXPECT_DOUBLE_EQ(recovery_test::findBehavior(registry, "rotate")->timeout(), 20.0);
+  EXPECT_DOUBLE_EQ(recovery_test::findBehavior(registry, "back_up")->timeout(), 15.0);
+  EXPECT_DOUBLE_EQ(recovery_test::findBehavior(registry, "wait")->timeout(), 0.0);
+}
+
+TEST(Registry, MissingLibraryPathIsReportedAndFails)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  // `GhostRecovery` được khai trong danh sách nhưng không có khoá library_path.
+  EXPECT_FALSE(registry.loadFromConfig(nh, "recovery_missing_library", rig.ctx));
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, OneBadBehaviorDoesNotDropTheGoodOnes)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  // Một đường phục hồi hỏng không nên xoá sạch các đường còn lại.
+  EXPECT_FALSE(registry.loadFromConfig(nh, "recovery_partial", rig.ctx));
+  ASSERT_EQ(registry.size(), 1u);
+  EXPECT_EQ(registry.nameAt(0), "wait");
+}
+
+TEST(Registry, MissingBehaviorListFails)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  EXPECT_FALSE(registry.loadFromConfig(nh, "namespace_khong_ton_tai", rig.ctx));
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, IndexOutOfRangeIsSafe)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+
+  EXPECT_EQ(registry.at(99), nullptr);
+  EXPECT_TRUE(registry.nameAt(99).empty());
+}
+
+TEST(Registry, RegisterBehaviorRejectsNull)
+{
+  recovery_core::RecoveryRegistry registry;
+
+  EXPECT_FALSE(registry.registerBehavior(nullptr));
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, RegisterBehaviorAppendsInOrder)
+{
+  recovery_core::RecoveryRegistry registry;
+
+  auto first = std::make_shared<MockBehavior>(RecoveryOutputType::kNone);
+  auto second = std::make_shared<MockBehavior>(RecoveryOutputType::kNone);
+
+  ASSERT_TRUE(registry.registerBehavior(first));
+  ASSERT_TRUE(registry.registerBehavior(second));
+
+  ASSERT_EQ(registry.size(), 2u);
+  EXPECT_EQ(registry.at(0), first.get());
+  EXPECT_EQ(registry.at(1), second.get());
+}
+
+TEST(Registry, ClearReleasesBehaviors)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+  ASSERT_GT(registry.size(), 0u);
+
+  registry.clear();
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, BehaviorsStayUsableAfterLoaderScopeEnds)
+{
+  VelocityRig rig;
+  recovery_core::RecoveryRegistry registry;
+
+  {
+    // NodeHandle chết trước registry: behavior vẫn phải sống, vì registry mới là thứ giữ .so.
+    robot::NodeHandle scoped_nh;
+    ASSERT_TRUE(registry.loadFromConfig(scoped_nh, "recovery", rig.ctx));
+  }
+
+  auto* wait = recovery_test::findBehavior(registry, "wait");
+  ASSERT_NE(wait, nullptr);
+  ASSERT_TRUE(wait->start(recovery_core::RecoveryGoal(), robot::Time(1000.0)));
+  EXPECT_EQ(wait->update(robot::Time(1003.0)).status, recovery_core::RecoveryStatus::kSucceeded);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+#ifdef RECOVERY_CORE_TEST_LIBRARY_DIR
+  setenv("PNKX_NAV_CORE_LIBRARY_PATH", RECOVERY_CORE_TEST_LIBRARY_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}