Regression tests with Unity Test Framework

Assets/AWSIM/AWSIM.asmdef

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+{
+	"name": "AWSIM"
+}

Assets/RGLUnityPlugin/AWSIM.asmref

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+{
+    "reference": "GUID:6adb9a5fec9cc8c478d3d8da6e48fe3b"
+}

Assets/Ros2ForUnity/AWSIM.asmref

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+{
+    "reference": "GUID:6adb9a5fec9cc8c478d3d8da6e48fe3b"
+}

Assets/Tests/EditMode/EgoEditTests.cs

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+using NUnit.Framework;
+using AWSIM;
+
+using autoware_auto_vehicle_msgs.msg;
+
+namespace Ego
+{
+    public class TurnSignalInput
+    {
+        [OneTimeSetUp]
+        public void OneTimeSetUp() {
+            // ROS 2 Unity handler is required to load ROS 2 message assemblies
+            var ros2UnityCore = new ROS2.ROS2UnityCore();
+        }
+
+        public static object[] ros2UnityHazardTestCases =
+        {
+            new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE, Vehicle.TurnSignal.NONE },
+            new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT, Vehicle.TurnSignal.LEFT },
+            new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT, Vehicle.TurnSignal.RIGHT },
+            new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.NO_COMMAND, Vehicle.TurnSignal.NONE },
+        };
+        [TestCaseSource(nameof(ros2UnityHazardTestCases))]
+        public void Ros2Unity(byte light, Vehicle.TurnSignal result)
+        {
+            var command = new TurnIndicatorsCommand() {Command = light};
+            Assert.AreEqual(result, VehicleROS2Utility.RosToUnityTurnSignal(command));
+        }
+
+        public static object[] ros2UnityTurnSignalTestCases =
+        {
+            new object[] { Vehicle.TurnSignal.NONE, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE},
+            new object[] { Vehicle.TurnSignal.LEFT, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT},
+            new object[] { Vehicle.TurnSignal.RIGHT, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT},
+            new object[] { Vehicle.TurnSignal.NONE, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE},
+        };
+        [TestCaseSource(nameof(ros2UnityTurnSignalTestCases))]
+        public void Unity2Ros(Vehicle.TurnSignal signal, byte result)
+        {
+            Assert.AreEqual(VehicleROS2Utility.UnityToRosTurnSignal(signal), result);
+        }
+    }
+
+    public class GearsInput
+    {
+        [OneTimeSetUp]
+        public void OneTimeSetUp() {
+            // ROS 2 Unity handler is required to load ROS 2 message assemblies
+            var ros2UnityCore = new ROS2.ROS2UnityCore();
+            ros2UnityCore.DestroyNow();
+        }
+
+        public static object[] ros2UnityGearTestCases =
+        {
+            new object[] { autoware_auto_vehicle_msgs.msg.GearReport.NONE, Vehicle.Shift.PARKING },
+            new object[] { autoware_auto_vehicle_msgs.msg.GearReport.PARK, Vehicle.Shift.PARKING },
+            new object[] { autoware_auto_vehicle_msgs.msg.GearReport.NEUTRAL, Vehicle.Shift.NEUTRAL },
+            new object[] { autoware_auto_vehicle_msgs.msg.GearReport.REVERSE, Vehicle.Shift.REVERSE },
+            new object[] { autoware_auto_vehicle_msgs.msg.GearReport.DRIVE, Vehicle.Shift.DRIVE },
+            new object[] { autoware_auto_vehicle_msgs.msg.GearReport.LOW, Vehicle.Shift.DRIVE },
+        };
+        [TestCaseSource(nameof(ros2UnityGearTestCases))]
+        public void Ros2Unity(byte gear, Vehicle.Shift result)
+        {
+            var command = new GearCommand() {Command = gear};
+            Assert.AreEqual(result, VehicleROS2Utility.RosToUnityShift(command));
+        }
+
+        public static object[] unityToRosGearTestCases =
+        {
+            new object[] { Vehicle.Shift.PARKING, autoware_auto_vehicle_msgs.msg.GearReport.PARK },
+            new object[] { Vehicle.Shift.NEUTRAL, autoware_auto_vehicle_msgs.msg.GearReport.NEUTRAL },
+            new object[] { Vehicle.Shift.REVERSE, autoware_auto_vehicle_msgs.msg.GearReport.REVERSE },
+            new object[] { Vehicle.Shift.DRIVE, autoware_auto_vehicle_msgs.msg.GearReport.DRIVE },
+        };
+        [TestCaseSource(nameof(unityToRosGearTestCases))]
+        public void Unity2Ros(Vehicle.Shift gear, byte result)
+        {
+            Assert.AreEqual(VehicleROS2Utility.UnityToRosShift(gear), result);
+        }
+    }
+
+}

Assets/Tests/EditMode/SensorsEditTests.cs

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+using NUnit.Framework;
+using UnityEngine;
+using AWSIM;
+using UnityEngine.TestTools.Utils;
+
+namespace Sensors
+{
+    public class IMU
+    {
+        // Comparers
+        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);
+        }
+    }
+
+    public class GNSS
+    {
+        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/Tests/EditMode/Tests.asmdef

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+{
+    "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
+}