test_ne_raptor_interface.hpp File Reference

This file defines the NERaptorInterfaceTest class. More...

#include <gtest/gtest.h>
#include <ne_raptor_interface/ne_raptor_interface.hpp>
#include <ne_raptor_interface/test_ne_raptor_interface_listener.hpp>
#include <ne_raptor_interface/test_ne_raptor_interface_talker.hpp>
#include <chrono>
#include <cmath>
#include <cstdint>
#include <fstream>
#include <memory>
#include <thread>

Include dependency graph for test_ne_raptor_interface.hpp:

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Classes
class	NERaptorInterfaceTest
	Class for testing NERaptorInterface. More...
struct	NERaptorInterfaceTest::test_hmcr
struct	NERaptorInterfaceTest::test_vsc
struct	NERaptorInterfaceTest::test_hlcc
struct	NERaptorInterfaceTest::test_vcc
struct	NERaptorInterfaceTest::test_vsr
struct	NERaptorInterfaceTest::test_vo
struct	NERaptorInterfaceTest::test_vks

Functions
template<typename T >
void	wait_for_subscriber (const T &pub_ptr, const uint32_t num_expected_subs=1U, std::chrono::milliseconds match_timeout=std::chrono::seconds{10U})
template<typename T >
void	wait_for_publisher (const T &sub_ptr, const uint32_t num_expected_pubs=1U, std::chrono::milliseconds match_timeout=std::chrono::seconds{10U})

Variables
const uint16_t	c_ecu_build_num = 0xABCD
const float32_t	c_front_axle_to_cog = 1.5F
const float32_t	c_rear_axle_to_cog = 0.5F
const float32_t	c_steer_to_tire_ratio = 2.0F
const float32_t	c_max_steer_angle = 500.0F
const float32_t	c_accel_limit = 3.0F
const float32_t	c_decel_limit = 3.0F
const float32_t	c_pos_jerk_limit = 9.0F
const float32_t	c_neg_jerk_limit = 9.0F
const uint32_t	c_pub_period = 100
static constexpr uint8_t	SERVICE_TIMEOUT = 5
static constexpr uint8_t	kNumRollOver {0x10}
static constexpr uint8_t	kNumTests_HMCR {7}
static constexpr uint8_t	kTestValid_VSC {5}
static constexpr uint8_t	kTestInvalid_VSC {14}
static constexpr uint8_t	kNumTests_VSC {kTestValid_VSC + kTestInvalid_VSC}
static constexpr uint8_t	kNumTests_HLCC {8}
static constexpr uint8_t	kNumTests_VCC {12}
static constexpr uint8_t	kTestValid_VSR {4}
static constexpr uint8_t	kTestInvalid_VSR {1}
static constexpr uint8_t	kNumTests_VSR {kTestValid_VSR + kTestInvalid_VSR}
static constexpr uint8_t	kNumTests_VO {18}
static constexpr uint8_t	kTestValid_VKS {18}
static constexpr uint8_t	kTestInvalid_VKS {1}
static constexpr uint8_t	kNumTests_VKS {kTestValid_VKS + kTestInvalid_VKS}
const std::chrono::nanoseconds	C_TIMEOUT_NANO = 1000000000ns
const std::chrono::milliseconds	C_TIMEOUT_MILLI = std::chrono::milliseconds(c_pub_period)
const uint8_t	C_TIMEOUT_ITERATIONS = 25

Detailed Description

This file defines the NERaptorInterfaceTest class.

Copyright

Copyright 2021 The Autoware Foundation

Function Documentation

wait_for_publisher()

template<typename T >

void wait_for_publisher	(	const T &	sub_ptr,
		const uint32_t	num_expected_pubs = 1U,
		std::chrono::milliseconds	match_timeout = std::chrono::seconds{10U}
	)

wait_for_subscriber()

template<typename T >

void wait_for_subscriber	(	const T &	pub_ptr,
		const uint32_t	num_expected_subs = 1U,
		std::chrono::milliseconds	match_timeout = std::chrono::seconds{10U}
	)

Variable Documentation

c_accel_limit

const float32_t c_accel_limit = 3.0F

c_decel_limit

const float32_t c_decel_limit = 3.0F

c_ecu_build_num

const uint16_t c_ecu_build_num = 0xABCD

c_front_axle_to_cog

const float32_t c_front_axle_to_cog = 1.5F

c_max_steer_angle

const float32_t c_max_steer_angle = 500.0F

c_neg_jerk_limit

const float32_t c_neg_jerk_limit = 9.0F

c_pos_jerk_limit

const float32_t c_pos_jerk_limit = 9.0F

c_pub_period

const uint32_t c_pub_period = 100

c_rear_axle_to_cog

const float32_t c_rear_axle_to_cog = 0.5F

c_steer_to_tire_ratio

const float32_t c_steer_to_tire_ratio = 2.0F

C_TIMEOUT_ITERATIONS

const uint8_t C_TIMEOUT_ITERATIONS = 25

C_TIMEOUT_MILLI

const std::chrono::milliseconds C_TIMEOUT_MILLI = std::chrono::milliseconds(c_pub_period)

C_TIMEOUT_NANO

const std::chrono::nanoseconds C_TIMEOUT_NANO = 1000000000ns

kNumRollOver

constexpr uint8_t kNumRollOver {0x10}

staticconstexpr

kNumTests_HLCC

constexpr uint8_t kNumTests_HLCC {8}

staticconstexpr

kNumTests_HMCR

constexpr uint8_t kNumTests_HMCR {7}

staticconstexpr

kNumTests_VCC

constexpr uint8_t kNumTests_VCC {12}

staticconstexpr

kNumTests_VKS

constexpr uint8_t kNumTests_VKS {kTestValid_VKS + kTestInvalid_VKS}

staticconstexpr

kNumTests_VO

constexpr uint8_t kNumTests_VO {18}

staticconstexpr

kNumTests_VSC

constexpr uint8_t kNumTests_VSC {kTestValid_VSC + kTestInvalid_VSC}

staticconstexpr

kNumTests_VSR

constexpr uint8_t kNumTests_VSR {kTestValid_VSR + kTestInvalid_VSR}

staticconstexpr

kTestInvalid_VKS

constexpr uint8_t kTestInvalid_VKS {1}

staticconstexpr

kTestInvalid_VSC

constexpr uint8_t kTestInvalid_VSC {14}

staticconstexpr

kTestInvalid_VSR

constexpr uint8_t kTestInvalid_VSR {1}

staticconstexpr

kTestValid_VKS

constexpr uint8_t kTestValid_VKS {18}

staticconstexpr

kTestValid_VSC

constexpr uint8_t kTestValid_VSC {5}

staticconstexpr

kTestValid_VSR

constexpr uint8_t kTestValid_VSR {4}

staticconstexpr

SERVICE_TIMEOUT

constexpr uint8_t SERVICE_TIMEOUT = 5

staticconstexpr