gndtruth_extractor: Add smoketests with output comparison

Co-authored-by: Martin Henselmeyer <[email protected]>

Author: cassava

plugins/gndtruth_extractor/tests/conanfile_default.py

@@ -3,7 +3,7 @@
 
 
 class CloeTest(ConanFile):
-    python_requires = "cloe-launch-profile/[~=0.19.0]@cloe/develop"
+    python_requires = "cloe-launch-profile/[~=0.20.0]@cloe/develop"
     python_requires_extend = "cloe-launch-profile.Base"
 
     default_options = {

plugins/gndtruth_extractor/tests/test_gndtruth.bats

@@ -5,6 +5,73 @@ export CLOE_ROOT="${BATS_TEST_DIRNAME}/../../.."
 load "${CLOE_ROOT}/tests/setup_bats.bash"
 load "${CLOE_ROOT}/tests/setup_testname.bash"
 
+# Usage: FILENAME=$(mktemp_gndtruth_out SUFFIX)
+#
+# Prints a new temporary filename with the given suffix.
+# This allows different tests be run in parallel.
+mktemp_gndtruth_out() {
+    local suffix=${1}
+    mktemp -u --suffix=.${suffix} /tmp/cloe-gndtruth-XXXXX
+}
+
+# Usage: fn_test_gndtruth SUFFIX DECOMPRESS
+#
+# Parameters:
+#   SUFFIX      One of "json", "json.gz", "json.bz2", "msgpack", "msgpack.gz", "msgpack.bz2"
+#   DECOMPRESS  One of "cat", "gunzip", "bunzip2"
+fn_test_gndtruth() {
+    local suffix="$1"
+    local decompress="$2"
+
+    # This neat little trick will give us "json" or "msgpack"
+    local base_suffix="${suffix/.*/}"
+    local CLOE_GNDTRUTH_REF="test_gndtruth_smoketest_output.${base_suffix}"
+
+    export CLOE_GNDTRUTH_OTYPE="$suffix"
+    export CLOE_GNDTRUTH_ONAME="$(mktemp_gndtruth_out $suffix)"
+
+    # Clean any pre-existing file.
+    if [ -f "$CLOE_GNDTRUTH_ONAME" ]; then
+        rm "$CLOE_GNDTRUTH_ONAME"
+    fi
+
+    cloe-engine run test_gndtruth_smoketest.json
+    assert_exit_success $?
+
+    # Expect configured output file to exist.
+    test -f "$CLOE_GNDTRUTH_ONAME"
+
+    # Expect reference file to equal the "decompressed" output file
+    diff "$CLOE_GNDTRUTH_REF" <($decompress - < "$CLOE_GNDTRUTH_ONAME")
+
+    # Remove temporary file.
+    rm "$CLOE_GNDTRUTH_ONAME"
+}
+
+@test "$(testname 'Expect json' 'test_gndtruth_smoketest.json' 'd5f58690-e7bc-4170-ab7e-9b785a5866c3')" {
+    fn_test_gndtruth "json" "cat"
+}
+
+@test "$(testname 'Expect json.gz' 'test_gndtruth_smoketest.json' 'b3a11bb5-6fd1-401e-b9fb-db76b4c338e5')" {
+    fn_test_gndtruth "json.gz" "gunzip"
+}
+
+@test "$(testname 'Expect json.bz2' 'test_gndtruth_smoketest.json' '69eeb436-4b5e-4a31-9097-01f03cb0f71d')" {
+    fn_test_gndtruth "json.bz2" "bunzip2"
+}
+
+@test "$(testname 'Expect msgpack' 'test_gndtruth_smoketest.json' '40757b44-3aa0-4a46-8597-ebf2b8acfbab')" {
+    fn_test_gndtruth "msgpack" "cat"
+}
+
+@test "$(testname 'Expect msgpack.gz' 'test_gndtruth_smoketest.json' 'bf77683f-7c1a-4d70-b713-e26f440e71f7')" {
+    fn_test_gndtruth "msgpack.gz" "gunzip"
+}
+
+@test "$(testname 'Expect msgpack.bz2' 'test_gndtruth_smoketest.json' 'c50350d5-9b63-43bb-9e00-d31646e50b0a')" {
+    fn_test_gndtruth "msgpack.bz2" "bunzip2"
+}
+
 @test "$(testname 'Expect run failure' 'test_gndtruth_invalid_file.json' '29e8ff3b-86f3-4320-ba69-05600df1f836')" {
     cloe-engine check test_gndtruth_invalid_file.json
     run cloe-engine run test_gndtruth_invalid_file.json

plugins/gndtruth_extractor/tests/test_gndtruth_smoketest.json

@@ -0,0 +1,32 @@
+{
+  "version": "4",
+  "include": [
+    "config_minimator_smoketest.json"
+  ],
+  "controllers": [
+    {
+      "binding": "gndtruth_extractor",
+      "vehicle": "default",
+      "args": {
+        // This file is parameterized with these two fields that can
+        // be supplied by the environment.
+        //
+        // This is done in test_gndtruth.bats
+        "output_file": "${CLOE_GNDTRUTH_ONAME-/tmp/cloe_gndtruth.json}",
+        "output_type": "${CLOE_GNDTRUTH_OTYPE-json}",
+        "components": [
+          "cloe::gndtruth_lane_sensor",
+          "cloe::default_world_sensor"
+        ]
+      }
+    }
+  ],
+  "triggers": [
+      { "event": "start", "action": "log=info: Running gndtruth/smoketest." },
+      { "event": "start", "action": "realtime_factor=-1" },
+
+      // This is earlier than the time configured in the included file.
+      // It should result in 4 cycles for the gndtruth_extractor plugin.
+      { "event": "time=0.1", "action": "succeed" }
+  ]
+}