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Commit 0cf8c5ca authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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WIP tests not properly finding YAML files

parent 374d2786
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1 merge request!260WIP: params autoconf
...@@ -84,6 +84,10 @@ target_link_libraries(gtest_motion_buffer ${PROJECT_NAME}) ...@@ -84,6 +84,10 @@ target_link_libraries(gtest_motion_buffer ${PROJECT_NAME})
wolf_add_gtest(gtest_pack_KF_buffer gtest_pack_KF_buffer.cpp) wolf_add_gtest(gtest_pack_KF_buffer gtest_pack_KF_buffer.cpp)
target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME}) target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME})
# Parameters server
wolf_add_gtest(gtest_param_server gtest_param_server.cpp ${CMAKE_CURRENT_LIST_DIR})
target_link_libraries(gtest_param_server ${PROJECT_NAME})
# YAML parser # YAML parser
wolf_add_gtest(gtest_parser_yaml gtest_parser_yaml.cpp) wolf_add_gtest(gtest_parser_yaml gtest_parser_yaml.cpp)
target_link_libraries(gtest_parser_yaml ${PROJECT_NAME}) target_link_libraries(gtest_parser_yaml ${PROJECT_NAME})
......
#include "utils_gtest.h"
#include "base/converter.h"
#include "base/wolf.h"
#include "../hello_plugin/parser_yaml.hpp"
#include "base/params_server.hpp"
using namespace std;
using namespace wolf;
parserYAML parse(string _file)
{
parserYAML parser = parserYAML(_file);
parser.parse();
return parser;
}
TEST(ParamsServer, Default)
{
std::string wolf_root = _WOLF_ROOT_DIR;
auto parser = parse(wolf_root + "/test/params1.yaml");
auto params = parser.getParams();
paramsServer server = paramsServer(params, parser.sensorsSerialization(), parser.processorsSerialization());
EXPECT_EQ(server.getParam<double>("should_not_exist", "2.6"), 2.6);
EXPECT_EQ(server.getParam<bool>("my_proc_test/voting_active", "true"), false);
EXPECT_NE(server.getParam<unsigned int>("my_proc_test/time_tolerance", "23"), 23);
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
#include "utils_gtest.h" #include "utils_gtest.h"
#include "base/converter.h" #include "base/converter.h"
#include "base/wolf.h"
#include "../hello_plugin/parser_yaml.hpp" #include "../hello_plugin/parser_yaml.hpp"
using namespace std; using namespace std;
using namespace wolf; using namespace wolf;
std::string wolf_root = _WOLF_ROOT_DIR;
parserYAML parse(string _file) parserYAML parse(string _file)
{ {
parserYAML parser = parserYAML(_file); parserYAML parser = parserYAML(_file);
...@@ -14,25 +17,26 @@ parserYAML parse(string _file) ...@@ -14,25 +17,26 @@ parserYAML parse(string _file)
TEST(ParserYAML, RegularParse) TEST(ParserYAML, RegularParse)
{ {
auto parser = parse("../test/params1.yaml"); cout << "WOOT " << wolf_root + "/test/params1.yaml" << endl;
auto parser = parse(wolf_root + "/test/params1.yaml");
auto params = parser.getParams(); auto params = parser.getParams();
// for(auto it : params) // for(auto it : params)
// cout << it.first << " %% " << it.second << endl; // cout << it.first << " %% " << it.second << endl;
ASSERT_EQ(params["odom/intrinsic/k_rot_to_rot"], "0.1"); EXPECT_EQ(params["odom/intrinsic/k_rot_to_rot"], "0.1");
ASSERT_EQ(params["processor1/sensorname"], "odom"); EXPECT_EQ(params["processor1/sensorname"], "odom");
} }
TEST(ParserYAML, ParseMap) TEST(ParserYAML, ParseMap)
{ {
auto parser = parse("../test/params2.yaml"); auto parser = parse(wolf_root + "/test/params2.yaml");
auto params = parser.getParams(); auto params = parser.getParams();
ASSERT_EQ(params["processor1/mymap"], "[{k1:v1},{k2:v2},{k3:[v3,v4,v5]}]"); EXPECT_EQ(params["processor1/mymap"], "[{k1:v1},{k2:v2},{k3:[v3,v4,v5]}]");
} }
TEST(ParserYAML, JumpFile) TEST(ParserYAML, JumpFile)
{ {
auto parser = parse("../test/params3.yaml"); auto parser = parse(wolf_root + "/test/params3.yaml");
auto params = parser.getParams(); auto params = parser.getParams();
ASSERT_EQ(params["my_proc_test/max_buff_length"], "100"); EXPECT_EQ(params["my_proc_test/max_buff_length"], "100");
ASSERT_EQ(params["my_proc_test/jump/voting_active"], "false"); EXPECT_EQ(params["my_proc_test/jump/voting_active"], "false");
} }
int main(int argc, char **argv) int main(int argc, char **argv)
{ {
......
...@@ -24,7 +24,7 @@ config: ...@@ -24,7 +24,7 @@ config:
type: "ODOM 2D" type: "ODOM 2D"
name: "my_proc_test" name: "my_proc_test"
sensorname: "odom" sensorname: "odom"
follow: "../hello_plugin/params_conf.yaml" follow: "../test/params3.1.yaml"
files: files:
- "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so" - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
- "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so" - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file
...@@ -5,4 +5,4 @@ dist_traveled: 100 ...@@ -5,4 +5,4 @@ dist_traveled: 100
max_buff_length: 100 max_buff_length: 100
max_time_span: 100 max_time_span: 100
time_tolerance: 100 time_tolerance: 100
voting_active: false voting_active: false
\ No newline at end of file \ No newline at end of file
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