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Add regression test for Radar
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@msz-rai
msz-rai committed Mar 18, 2024
1 parent 7e0f19c commit cef1cbc
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71 changes: 52 additions & 19 deletions Assets/Tests/PlayMode/Sensors/SensorsTest.cs
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Expand Up @@ -31,8 +31,13 @@ public class SensorsTest

// LiDAR
RGLUnityPlugin.LidarSensor lidarSensor;
ROS2.ISubscription<sensor_msgs.msg.PointCloud2> lidarSubscription;
List<sensor_msgs.msg.PointCloud2> lidarMessages;

// Radar
RGLUnityPlugin.RadarSensor radarSensor;

// LiDAR & Radar
ROS2.ISubscription<sensor_msgs.msg.PointCloud2> pointCloudSubscription;
List<sensor_msgs.msg.PointCloud2> pointCloudMessages;

// IMU
ImuSensor imuSensor;
Expand Down Expand Up @@ -67,45 +72,73 @@ public IEnumerator Setup()

gnssSensor = GameObject.FindObjectOfType<GnssSensor>();
lidarSensor = GameObject.FindObjectOfType<RGLUnityPlugin.LidarSensor>();
radarSensor = GameObject.FindObjectOfType<RGLUnityPlugin.RadarSensor>();
imuSensor = GameObject.FindObjectOfType<ImuSensor>();

yield return null;
}

[UnityTest]
public IEnumerator LiDAR()
private void CreatePointCloud2Subscription(PointCloud2Publisher rglRosPublisher)
{
Assert.NotNull(lidarSensor);
RglLidarPublisher lidarRos2Publisher = lidarSensor.GetComponent<RglLidarPublisher>();

Assert.AreEqual(((byte)lidarRos2Publisher.qos.reliabilityPolicy) , ((byte)ROS2.ReliabilityPolicy.QOS_POLICY_RELIABILITY_BEST_EFFORT));

QoSSettings QosSettingsLidar = new QoSSettings()
QoSSettings qosSettingsLidar = new QoSSettings()
{
ReliabilityPolicy = ROS2.ReliabilityPolicy.QOS_POLICY_RELIABILITY_BEST_EFFORT,
DurabilityPolicy = ROS2.DurabilityPolicy.QOS_POLICY_DURABILITY_VOLATILE,
HistoryPolicy = ROS2.HistoryPolicy.QOS_POLICY_HISTORY_KEEP_LAST,
Depth = 1,
};

pointCloudMessages = new List<sensor_msgs.msg.PointCloud2>(); // Clear messages
pointCloudSubscription?.Dispose(); // Dispose previous subscription
pointCloudSubscription = SimulatorROS2Node.CreateSubscription<sensor_msgs.msg.PointCloud2>(
rglRosPublisher.topic, msg =>
{
pointCloudMessages.Add(msg);
}, qosSettingsLidar.GetQoSProfile());
}

[UnityTest]
public IEnumerator LiDAR()
{
Assert.NotNull(lidarSensor);
RglLidarPublisher lidarRos2Publisher = lidarSensor.GetComponent<RglLidarPublisher>();

Assert.AreEqual((byte)lidarRos2Publisher.qos.reliabilityPolicy , (byte)ROS2.ReliabilityPolicy.QOS_POLICY_RELIABILITY_BEST_EFFORT);

Assert.NotZero(lidarRos2Publisher.pointCloud2Publishers.Count);

// Test all LiDAR PointCloud2 publishers
foreach (var publisher in lidarRos2Publisher.pointCloud2Publishers)
{
lidarMessages = new List<sensor_msgs.msg.PointCloud2>();
lidarSubscription?.Dispose();
lidarSubscription = SimulatorROS2Node.CreateSubscription<sensor_msgs.msg.PointCloud2>(
publisher.topic, msg =>
{
lidarMessages.Add(msg);
}, QosSettingsLidar.GetQoSProfile());
CreatePointCloud2Subscription(publisher);
yield return new WaitForSeconds(testDuration);

Assert.IsNotEmpty(pointCloudMessages);
Assert.AreEqual(pointCloudMessages.Count, (int)(testDuration * lidarSensor.AutomaticCaptureHz));
}
}

[UnityTest]
public IEnumerator Radar()
{
Assert.NotNull(radarSensor);
RglLidarPublisher radarRos2Publisher = radarSensor.GetComponent<RglLidarPublisher>();

Assert.AreEqual((byte)radarRos2Publisher.qos.reliabilityPolicy , (byte)ROS2.ReliabilityPolicy.QOS_POLICY_RELIABILITY_BEST_EFFORT);

Assert.NotZero(radarRos2Publisher.pointCloud2Publishers.Count);

// Test all Radar PointCloud2 publishers
foreach (var publisher in radarRos2Publisher.pointCloud2Publishers)
{
CreatePointCloud2Subscription(publisher);
yield return new WaitForSeconds(testDuration);

Assert.IsNotEmpty(lidarMessages);
Assert.AreEqual(lidarMessages.Count, (int)(testDuration * lidarSensor.AutomaticCaptureHz));
Assert.IsNotEmpty(pointCloudMessages);
Assert.AreEqual(pointCloudMessages.Count, (int)(testDuration * radarSensor.automaticCaptureHz));
}

// TODO: Test RadarScan publishers (radar_msgs_assembly needed)
}

[UnityTest]
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191 changes: 190 additions & 1 deletion Assets/Tests/PlayMode/Sensors/SensorsTest.unity
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