test(autoware_planning_test_manager): add tests (#273)

* test(autoware_planning_test_manager): add tests

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

* style(pre-commit): autofix

---------

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: 3 people

testing/autoware_planning_test_manager/CMakeLists.txt

@@ -8,4 +8,10 @@ ament_auto_add_library(autoware_planning_test_manager SHARED
   src/autoware_planning_test_manager.cpp
 )
 
+if(BUILD_TESTING)
+  ament_auto_add_gtest(test_autoware_planning_test_manager
+    test/test_planning_test_manager.cpp
+  )
+endif()
+
 ament_auto_package()

testing/autoware_planning_test_manager/test/test_planning_test_manager.cpp

@@ -0,0 +1,102 @@
+// Copyright 2025 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware/planning_test_manager/autoware_planning_test_manager.hpp"
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+TEST(PlanningTestManager, CommunicationTest)
+{
+  using autoware_internal_planning_msgs::msg::PathWithLaneId;
+  using autoware_planning_msgs::msg::LaneletRoute;
+  using autoware_planning_msgs::msg::Path;
+  using autoware_planning_msgs::msg::Trajectory;
+  using nav_msgs::msg::Odometry;
+
+  rclcpp::init(0, nullptr);
+
+  // instantiate test_manager with PlanningInterfaceTestManager type
+  auto test_manager =
+    std::make_shared<autoware::planning_test_manager::PlanningInterfaceTestManager>();
+
+  // instantiate the TargetNode for test
+  auto test_target_node = std::make_shared<rclcpp::Node>("target_node_for_test");
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<Trajectory>("normal_trajectory_for_test");
+  test_manager->testWithNormalTrajectory(test_target_node, "normal_trajectory_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<Trajectory>("abnormal_trajectory_for_test");
+  test_manager->testWithAbnormalTrajectory(test_target_node, "abnormal_trajectory_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<LaneletRoute>("normal_route_for_test");
+  test_manager->testWithNormalRoute(test_target_node, "normal_route_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<LaneletRoute>("abnormal_route_for_test");
+  test_manager->testWithAbnormalRoute(test_target_node, "abnormal_route_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<LaneletRoute>("behavior_normal_route_for_test");
+  test_manager->testWithBehaviorNormalRoute(test_target_node, "behavior_normal_route_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<LaneletRoute>("behavior_goal_on_left_side_route_for_test");
+  test_manager->testWithBehaviorGoalOnLeftSide(
+    test_target_node, "behavior_goal_on_left_side_route_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<PathWithLaneId>("normal_path_with_lane_id_for_test");
+  test_manager->testWithNormalPathWithLaneId(test_target_node, "normal_path_with_lane_id_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<PathWithLaneId>("abnormal_path_with_lane_id_for_test");
+  test_manager->testWithAbnormalPathWithLaneId(
+    test_target_node, "abnormal_path_with_lane_id_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<Path>("normal_path_for_test");
+  test_manager->testWithNormalPath(test_target_node, "normal_path_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<Path>("abnormal_path_for_test");
+  test_manager->testWithAbnormalPath(test_target_node, "abnormal_path_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<Odometry>("off_track_initial_poses_for_test");
+  test_manager->testWithOffTrackInitialPoses(test_target_node, "off_track_initial_poses_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  test_manager->resetReceivedTopicNum();
+  test_manager->subscribeOutput<Odometry>("off_track_odometry_for_test");
+  test_manager->testWithOffTrackOdometry(test_target_node, "off_track_odometry_for_test");
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // shutdown ROS context
+  rclcpp::shutdown();
+}