refactoring editor tests and docs

Author: mackierx111

Assets/Tests/EditMode/GnssSensorTest.cs

@@ -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/Tests/EditMode/SensorsEditTests.cs.meta Assets/Tests/EditMode/GnssSensorTest.cs.meta

@@ -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/Tests/EditMode/ImuSensorTest.cs

@@ -1,14 +1,14 @@
 using NUnit.Framework;
 using AWSIM;
-
 using autoware_auto_vehicle_msgs.msg;
 
-namespace Ego
+public class VehicleRos2InputTest
 {
     public class TurnSignalInput
     {
         [OneTimeSetUp]
-        public void OneTimeSetUp() {
+        public void OneTimeSetUp()
+        {
             // ROS 2 Unity handler is required to load ROS 2 message assemblies
             var ros2UnityCore = new ROS2.ROS2UnityCore();
         }
@@ -23,7 +23,7 @@ public void OneTimeSetUp() {
         [TestCaseSource(nameof(ros2UnityHazardTestCases))]
         public void Ros2Unity(byte light, Vehicle.TurnSignal result)
         {
-            var command = new TurnIndicatorsCommand() {Command = light};
+            var command = new TurnIndicatorsCommand() { Command = light };
             Assert.AreEqual(result, VehicleROS2Utility.RosToUnityTurnSignal(command));
         }
 
@@ -44,7 +44,8 @@ public void Unity2Ros(Vehicle.TurnSignal signal, byte result)
     public class GearsInput
     {
         [OneTimeSetUp]
-        public void OneTimeSetUp() {
+        public void OneTimeSetUp()
+        {
             // ROS 2 Unity handler is required to load ROS 2 message assemblies
             var ros2UnityCore = new ROS2.ROS2UnityCore();
             ros2UnityCore.DestroyNow();
@@ -62,7 +63,7 @@ public void OneTimeSetUp() {
         [TestCaseSource(nameof(ros2UnityGearTestCases))]
         public void Ros2Unity(byte gear, Vehicle.Shift result)
         {
-            var command = new GearCommand() {Command = gear};
+            var command = new GearCommand() { Command = gear };
             Assert.AreEqual(result, VehicleROS2Utility.RosToUnityShift(command));
         }
 
@@ -79,5 +80,4 @@ public void Unity2Ros(Vehicle.Shift gear, byte result)
             Assert.AreEqual(VehicleROS2Utility.UnityToRosShift(gear), result);
         }
     }
-    
-}
+}