Merge pull request #278 from tier4/feature/regression_tests_framework

Regression tests with Unity Test Framework

Author: mackierx111

Assets/AWSIM/AWSIM.asmdef

@@ -0,0 +1,3 @@
+{
+	"name": "AWSIM"
+}

Assets/AWSIM/AWSIM.asmdef.meta

@@ -0,0 +1,3 @@
+{
+    "reference": "GUID:6adb9a5fec9cc8c478d3d8da6e48fe3b"
+}

Assets/RGLUnityPlugin/AWSIM.asmref

@@ -0,0 +1,3 @@
+{
+    "reference": "GUID:6adb9a5fec9cc8c478d3d8da6e48fe3b"
+}

Assets/RGLUnityPlugin/AWSIM.asmref.meta

@@ -0,0 +1,100 @@
+using NUnit.Framework;
+using UnityEngine;
+using AWSIM;
+using UnityEngine.TestTools.Utils;
+
+public class GnssSensorTest
+{
+    FloatEqualityComparer floatComparer;
+    Vector3EqualityComparer v3Comparer;
+
+    [OneTimeSetUp]
+    public void OneTimeSetUp()
+    {
+        floatComparer = new FloatEqualityComparer(10e-6f);
+        v3Comparer = new Vector3EqualityComparer(10e-6f);
+    }
+
+    [Test]
+    public void MgrsZero()
+    {
+        bool dataReceived = false;
+        GameObject go = new GameObject();
+        var sensor = go.AddComponent<GnssSensor>();
+        sensor.OutputHz = 1;
+        go.AddComponent<Environment>();
+
+        sensor.OnOutputData += (GnssSensor.OutputData data) =>
+        {
+            dataReceived = true;
+            Assert.That(data.MgrsPosition, Is.EqualTo(Vector3.zero).Using(v3Comparer));
+        };
+
+        sensor.Call("Start");
+        sensor.SetPrivateFieldValue<float>("timer", 1.0f);
+        sensor.Call("FixedUpdate");
+
+        Assert.IsTrue(dataReceived);
+        UnityEngine.Object.DestroyImmediate(go);
+    }
+
+    static Vector3[] gnssMgrsNonZeroValues = new Vector3[] {
+            Vector3.one,
+            new Vector3(-1.0f, 2.0f, 0.0f),
+            Vector3.up
+         };
+
+    [Test]
+    public void MgrsNonZero([ValueSource("gnssMgrsNonZeroValues")] Vector3 value)
+    {
+        bool dataReceived = false;
+        GameObject go = new GameObject();
+        var sensor = go.AddComponent<GnssSensor>();
+        var env = go.AddComponent<Environment>();
+        env.SetPrivateFieldValue<Vector3>("mgrsOffsetPosition", value);
+
+        sensor.OnOutputData += (GnssSensor.OutputData data) =>
+        {
+            dataReceived = true;
+            Assert.That(data.MgrsPosition, Is.EqualTo(value).Using(v3Comparer));
+        };
+
+        sensor.Call("Start");
+        sensor.SetPrivateFieldValue<float>("timer", 1.0f);
+        sensor.Call("FixedUpdate");
+
+        Assert.IsTrue(dataReceived);
+        UnityEngine.Object.DestroyImmediate(go);
+    }
+
+    public static object[] gnssTranslateCases =
+    {
+            new object[] { new Vector3(1.0f, 0.0f, 1.0f), new Vector3(1.0f, -1.0f, 0.0f) },
+            new object[] { new Vector3(-1.0f, 0.0f, 0.0f), new Vector3(0.0f, 1.0f, 0.0f) },
+            new object[] { new Vector3(-1.0f, -1.0f, -1.0f), new Vector3(-1.0f, 1.0f, -1.0f) },
+        };
+    [TestCaseSource(nameof(gnssTranslateCases))]
+    public void Translate(Vector3 translate, Vector3 expectedResult)
+    {
+        bool dataReceived = false;
+        GameObject go = new GameObject();
+        var sensor = go.AddComponent<GnssSensor>();
+        sensor.OutputHz = 1;
+        var env = go.AddComponent<Environment>();
+
+        go.transform.Translate(translate);
+
+        sensor.OnOutputData += (GnssSensor.OutputData data) =>
+        {
+            dataReceived = true;
+            Assert.That(data.MgrsPosition, Is.EqualTo(expectedResult).Using(v3Comparer));
+        };
+
+        sensor.Call("Start");
+        sensor.SetPrivateFieldValue<float>("timer", 1.0f);
+        sensor.Call("FixedUpdate");
+
+        Assert.IsTrue(dataReceived);
+        UnityEngine.Object.DestroyImmediate(go);
+    }
+}

Assets/Ros2ForUnity/AWSIM.asmref

@@ -0,0 +1,61 @@
+using NUnit.Framework;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.TestTools.Utils;
+using AWSIM;
+
+public class ImuSensorTest
+{
+    FloatEqualityComparer floatComparer;
+    Vector3EqualityComparer v3Comparer;
+
+    [OneTimeSetUp]
+    public void OneTimeSetUp()
+    {
+        floatComparer = new FloatEqualityComparer(10e-6f);
+        v3Comparer = new Vector3EqualityComparer(10e-6f);
+    }
+
+    [Test]
+    public void Gravity()
+    {
+        bool dataReceived = false;
+        GameObject go = new GameObject();
+        var sensor = go.AddComponent<ImuSensor>();
+        sensor.EnableGravity = true;
+
+        sensor.OnOutputData += (ImuSensor.OutputData data) => {
+            dataReceived = true;
+            Assert.That(data.LinearAcceleration.y, Is.EqualTo(Physics.gravity.y).Using(floatComparer));
+        };
+
+        sensor.Call("Start");
+        sensor.SetPrivateFieldValue<float>("timer", 1.0f);
+        sensor.Call("FixedUpdate");
+
+        Assert.IsTrue(dataReceived);
+        UnityEngine.Object.DestroyImmediate(go);
+    }
+
+    [Test]
+    public void NoGravity()
+    {
+        bool dataReceived = false;
+        GameObject go = new GameObject();
+        var sensor = go.AddComponent<ImuSensor>();
+        sensor.EnableGravity = false;
+
+        sensor.OnOutputData += (ImuSensor.OutputData data) => {
+            dataReceived = true;
+            Assert.That(data.LinearAcceleration, Is.EqualTo(Vector3.zero).Using(v3Comparer));
+        };
+
+        sensor.Call("Start");
+        sensor.SetPrivateFieldValue<float>("timer", 1.0f);
+        sensor.Call("FixedUpdate");
+
+        Assert.IsTrue(dataReceived);
+        UnityEngine.Object.DestroyImmediate(go);
+    }
+}

Assets/Ros2ForUnity/AWSIM.asmref.meta

@@ -0,0 +1,39 @@
+{
+    "name": "Tests",
+    "rootNamespace": "",
+    "references": [
+        "UnityEngine.TestRunner",
+        "UnityEditor.TestRunner",
+        "AWSIM",
+        "AccessExtensions"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": true,
+    "overrideReferences": true,
+    "precompiledReferences": [
+        "nunit.framework.dll",
+        "autoware_auto_vehicle_msgs_assembly.dll",
+        "autoware_auto_planning_msgs_assembly.dll",
+        "autoware_auto_geometry_msgs_assembly.dll",
+        "autoware_auto_mapping_msgs_assembly.dll",
+        "geometry_msgs_assembly.dll",
+        "nav_msgs_assembly.dll",
+        "std_msgs_assembly.dll",
+        "builtin_interfaces_assembly.dll",
+        "action_msgs_assembly.dll",
+        "autoware_auto_control_msgs_assembly.dll",
+        "autoware_auto_perception_msgs_assembly.dll",
+        "autoware_common_msgs_assembly.dll",
+        "autoware_perception_msgs_assembly.dll",
+        "sensor_msgs_assembly.dll"
+    ],
+    "autoReferenced": true,
+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

Assets/Ros2ForUnity/Plugins/ros2cs_core.dll

@@ -0,0 +1,60 @@
+using NUnit.Framework;
+using AWSIM;
+using AWSIM.TrafficSimulation;
+using UnityEngine.TestTools.Utils;
+
+using UnityEngine;
+
+namespace Traffic
+{
+    public class TrafficPrimitives
+    {
+        Vector3EqualityComparer v3Comparer;
+        
+        [OneTimeSetUp]
+        public void OneTimeSetUp() {
+            // floatComparer = new FloatEqualityComparer(10e-6f);
+            v3Comparer = new Vector3EqualityComparer(10e-6f);
+        }
+        
+        [Test]
+        public void StopLineCentrerPoint()
+        {
+            StopLine stopLine = StopLine.Create(Vector3.zero, new Vector3(1, 0, 0));
+            Assert.That(stopLine.CenterPoint, Is.EqualTo(new Vector3(0.5f, 0, 0)).Using(v3Comparer));
+        }
+
+
+        static Vector3[][] trafficLaneWaypoints = new Vector3[][] { 
+            new Vector3[] {new Vector3(0,0,0), new Vector3(1,0,0), new Vector3(2,0,0) },
+            new Vector3[] {new Vector3(-1,0,1), new Vector3(1,0,1), new Vector3(2,0,2) },
+            new Vector3[] {new Vector3(0,0,1), new Vector3(0,0,2), new Vector3(0,0,1) },
+            new Vector3[] {new Vector3(-10,0,10), new Vector3(0,0,0), new Vector3(10,0,-10) },
+        };
+        [Test]
+        public void TrafficLanePositions([ValueSource("trafficLaneWaypoints")] Vector3[] waypoints)
+        {
+            TrafficLane trafficLane = TrafficLane.Create(waypoints, TrafficLane.TurnDirectionType.STRAIGHT);
+            Assert.That(trafficLane.transform.position, Is.EqualTo(waypoints[0]));
+        }
+
+        [Test]
+        public void TrafficLaneWithStopLine()
+        {
+            var waypoints = new Vector3[] {new Vector3(0, 0, -1.0f), new Vector3(0, 0, 0), new Vector3(0, 0, 1.0f) };
+            TrafficLane trafficLane = TrafficLane.Create(waypoints, TrafficLane.TurnDirectionType.STRAIGHT);
+            StopLine stopLine = StopLine.Create(new Vector3(-0.5f, 0, 0.2f), new Vector3(0.5f, 0, 0.2f));
+            trafficLane.StopLine = stopLine;
+            Assert.That(trafficLane.GetStopPoint(), Is.EqualTo(new Vector3(0.0f, 0, 0.2f)).Using(v3Comparer));
+        }
+
+        [Test]
+        public void TrafficLaneWithoutStopLine()
+        {
+            var waypoints = new Vector3[] {new Vector3(0, 0, -1.0f), new Vector3(0, 0, 0), new Vector3(0, 0, 1.0f) };
+            TrafficLane trafficLane = TrafficLane.Create(waypoints, TrafficLane.TurnDirectionType.STRAIGHT);
+            Assert.That(trafficLane.GetStopPoint(), Is.EqualTo(waypoints[0]).Using(v3Comparer));
+        }
+    }
+}
+