create TESTING

2026-06-13 13:46:53 +07:00
parent 1a8bddb037
commit 695a942a5d
15 changed files with 831 additions and 14 deletions
--- a/tests/test_sensor_validator.cpp
+++ b/tests/test_sensor_validator.cpp
@@ -0,0 +1,63 @@
+#include "validation/sensor_validator.hpp"
+
+#include <gtest/gtest.h>
+
+TEST(SensorValidator, LidarRequiresNameIpPort)
+{
+  std::string err;
+  EXPECT_FALSE(lm::SensorValidator::validateLidarPayload(nlohmann::json::object(), err));
+  EXPECT_FALSE(err.empty());
+
+  err.clear();
+  EXPECT_TRUE(lm::SensorValidator::validateLidarPayload(
+      {{"name", "front"}, {"ip", "192.168.1.10"}, {"port", 2112}}, err))
+      << err;
+}
+
+TEST(SensorValidator, LidarPortRange)
+{
+  std::string err;
+  EXPECT_FALSE(lm::SensorValidator::validateLidarPayload(
+      {{"name", "front"}, {"ip", "192.168.1.10"}, {"port", 70000}}, err));
+}
+
+TEST(SensorValidator, ImuRequiresFrameAndTopic)
+{
+  std::string err;
+  EXPECT_FALSE(lm::SensorValidator::validateImuPayload({{"name", "imu1"}}, err));
+
+  err.clear();
+  EXPECT_TRUE(lm::SensorValidator::validateImuPayload(
+      {{"name", "imu1"}, {"frame_id", "imu_link"}, {"topic", "/imu/data"}}, err))
+      << err;
+}
+
+TEST(SensorValidator, ImuInvalidSource)
+{
+  std::string err;
+  EXPECT_FALSE(lm::SensorValidator::validateImuPayload(
+      {{"name", "imu1"},
+       {"frame_id", "imu_link"},
+       {"topic", "/imu/data"},
+       {"source", "invalid_source"}},
+      err));
+}
+
+TEST(SensorValidator, LidarTripletDuplicateDetection)
+{
+  const nlohmann::json state = {
+      {"lidars",
+       nlohmann::json::array({{{"id", "l1"}, {"name", "front"}, {"ip", "10.0.0.1"}, {"port", 2112}}})}};
+  EXPECT_TRUE(lm::SensorValidator::lidarTripletExists(state, "front", "10.0.0.1", 2112));
+  const std::string exclude = "l1";
+  EXPECT_FALSE(lm::SensorValidator::lidarTripletExists(state, "front", "10.0.0.1", 2112, &exclude));
+}
+
+TEST(SensorValidator, ImuFrameDuplicateDetection)
+{
+  const nlohmann::json state = {
+      {"imus", nlohmann::json::array({{{"id", "i1"}, {"frame_id", "base_imu"}}})}};
+  EXPECT_TRUE(lm::SensorValidator::imuFrameExists(state, "base_imu"));
+  const std::string exclude = "i1";
+  EXPECT_FALSE(lm::SensorValidator::imuFrameExists(state, "base_imu", &exclude));
+}