DuongTD/recovery_core
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temporary storage 7/9/2026 19:41

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duongtd
2026-07-09 19:41:20 +07:00
parent 915cf85cc5
commit e9394434ba
17 changed files with 658 additions and 566 deletions
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57
test/plugin_loader_contract_test.cpp
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@@ -152,7 +152,9 @@ void testLoadPlugins()
// 4. Chuyển quyền giữ library vào storage sống lâu dài.
libraries_.push_back(std::move(library));
behavior->initialize(plugin.name, nullptr, &global_path_, nullptr, nullptr);
recovery_core::RecoveryContext ctx;
ctx.global_path = &global_path_;
behavior->configure(plugin.name, ctx);
creators_.push_back(behavior);
}
catch (const std::exception& e)
@@ -170,18 +172,28 @@ for(const auto& behavior : creators_)
{
if(behavior->getNameRecoveryBehavior() == "rotation_rc")
{
const recovery_core::RecoveryResult first = behavior->computeCommand(0.1);
// Caller đặt góc quay RUNTIME = pi/2 (90 độ) cho lượt này.
recovery_core::RecoveryGoal goal;
goal.angle = 1.57079632679;
const recovery_core::RecoveryResult started = behavior->start(goal);
expect(started.status == recovery_core::RecoveryStatus::kRunning,
"rotate must be running right after start");
const recovery_core::RecoveryResult first = behavior->update(0.1);
expect(first.status == recovery_core::RecoveryStatus::kRunning,
"rotate first cycle must be running");
expect(first.output_type == recovery_core::RecoveryOutputType::kVelocity,
"rotate must return velocity output");
expect(first.command.angular.z > 0.0, "rotate must command positive angular.z by default");
expect(first.command.angular.z > 0.0, "rotate must command positive angular.z for +angle");
expect(first.progress >= 0.0 && first.progress < 1.0,
"rotate progress must advance within [0,1)");
expect(first.remaining > 0.0, "rotate must report remaining angle while running");
recovery_core::RecoveryResult last = first;
for (int i = 0; i < 100 && last.status == recovery_core::RecoveryStatus::kRunning; ++i)
{
last = behavior->computeCommand(0.1);
last = behavior->update(0.1);
}
expect(last.status == recovery_core::RecoveryStatus::kSucceeded,
@@ -190,6 +202,39 @@ for(const auto& behavior : creators_)
"rotate final result must still be a velocity output");
expect(std::abs(last.command.angular.z) < 1e-9,
"rotate must return a zero angular command when complete");
expect(std::abs(last.progress - 1.0) < 1e-9, "rotate must report full progress on success");
expect(last.remaining < 1e-9, "rotate must report zero remaining on success");
}
}
}
void testBackupPlugin()
{
for(const auto& behavior : creators_)
{
if(behavior->getNameRecoveryBehavior() == "backward_rc")
{
// Caller đặt khoảng lùi RUNTIME = 0.3 m cho lượt này.
recovery_core::RecoveryGoal goal;
goal.distance = 0.3;
behavior->start(goal);
const recovery_core::RecoveryResult first = behavior->update(0.1);
expect(first.status == recovery_core::RecoveryStatus::kRunning,
"backup first cycle must be running");
expect(first.command.linear.x < 0.0, "backup must command negative linear.x");
recovery_core::RecoveryResult last = first;
for (int i = 0; i < 1000 && last.status == recovery_core::RecoveryStatus::kRunning; ++i)
{
last = behavior->update(0.1);
}
expect(last.status == recovery_core::RecoveryStatus::kSucceeded,
"backup must finish within bounded cycles");
expect(std::abs(last.command.linear.x) < 1e-9,
"backup must return a zero command when complete");
expect(std::abs(last.progress - 1.0) < 1e-9, "backup must report full progress on success");
}
}
}
@@ -208,7 +253,8 @@ global_path_.push_back(pose2);
{
if(behavior->getNameRecoveryBehavior() == "regen_path_rc")
{
const recovery_core::RecoveryResult result = behavior->runBehavior();
behavior->start(recovery_core::RecoveryGoal());
const recovery_core::RecoveryResult result = behavior->update(0.1);
expect(result.status == recovery_core::RecoveryStatus::kSucceeded,
"regen path must succeed with a non-empty global path");
@@ -234,6 +280,7 @@ int main()
testRegenPathPlugin();
testRotatePlugin();
testBackupPlugin();
std::cout << "[PASS] recovery_core plugin loader contract" << std::endl;
return 0;