command_guard_tests.cpp File Reference

safety::CommandGuard around the VelocityMux: timeout, non-finite commands, new controller commands, keepalive, QoS and diagnostics. More...

#include <algorithm>
#include <cmath>
#include <limits>
#include <memory>
#include <optional>
#include <string>
#include <utility>
#include <vector>
#include "gtest/gtest.h"
#include "diagnostic_msgs/msg/diagnostic_status.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "easynav_controller/VelocityMux.hpp"
#include "easynav_controller/safety/CommandGuard.hpp"
#include "easynav_core/VelocityCommand.hpp"

Include dependency graph for command_guard_tests.cpp:

Classes
class	CommandGuardTest
class	VelocityMux
	Decides, every RT cycle, which velocity command is sent to the robot. More...

Functions
	TEST_F (CommandGuardTest, ACommandAfterTheJumpRestartsTheTimeout)
	TEST_F (CommandGuardTest, AfterTheClockJumpsBackTheTimeoutCountsFromTheJump)
	TEST_F (CommandGuardTest, AHeldNonZeroTargetIsZeroedAfterTheTimeout)
	TEST_F (CommandGuardTest, AnErrorReportedBeforeAResetIsClearedAfterIt)
	TEST_F (CommandGuardTest, AnySourceKeepsTheCommandAlive)
	TEST_F (CommandGuardTest, AZeroTargetNeverTimesOut)
	TEST_F (CommandGuardTest, DiagnosticIsWrittenOnlyAfterAProblemAndOnChanges)
	TEST_F (CommandGuardTest, InvalidParametersAreRejected)
	TEST_F (CommandGuardTest, KeepaliveIsDueEveryPeriodAfterThePublication)
	TEST_F (CommandGuardTest, KeepaliveIsDueRightAfterTheClockJumpsBack)
	TEST_F (CommandGuardTest, NoKeepaliveIfDisabled)
	TEST_F (CommandGuardTest, NonFiniteProposalsAreDiscarded)
	TEST_F (CommandGuardTest, OnlyNewControllerCommandsAreProposed)
	TEST_F (CommandGuardTest, OnlyNonFiniteProposalsEndInATimeout)
	TEST_F (CommandGuardTest, PauseWhileTimedOutCommandsZero)
	TEST_F (CommandGuardTest, QosKeepsOnlyTheLatestCommandAndOffersADeadlineWithAKeepalive)
	TEST_F (CommandGuardTest, RepeatedJumpsBackStillTimeOut)
	TEST_F (CommandGuardTest, ResetForgetsTheTimeout)
	TEST_F (CommandGuardTest, TimeoutMustBeLongerThanTheControllerPeriod)
	TEST_F (CommandGuardTest, ZeroTimeoutDisablesIt)

Detailed Description

safety::CommandGuard around the VelocityMux: timeout, non-finite commands, new controller commands, keepalive, QoS and diagnostics.

Function Documentation

TEST_F() [1/20]

TEST_F	(	CommandGuardTest	,
		ACommandAfterTheJumpRestartsTheTimeout	)

TEST_F() [2/20]

TEST_F	(	CommandGuardTest	,
		AfterTheClockJumpsBackTheTimeoutCountsFromTheJump	)

TEST_F() [3/20]

TEST_F	(	CommandGuardTest	,
		AHeldNonZeroTargetIsZeroedAfterTheTimeout	)

TEST_F() [4/20]

TEST_F	(	CommandGuardTest	,
		AnErrorReportedBeforeAResetIsClearedAfterIt	)

TEST_F() [5/20]

TEST_F	(	CommandGuardTest	,
		AnySourceKeepsTheCommandAlive	)

TEST_F() [6/20]

TEST_F	(	CommandGuardTest	,
		AZeroTargetNeverTimesOut	)

TEST_F() [7/20]

TEST_F	(	CommandGuardTest	,
		DiagnosticIsWrittenOnlyAfterAProblemAndOnChanges	)

TEST_F() [8/20]

TEST_F	(	CommandGuardTest	,
		InvalidParametersAreRejected	)

TEST_F() [9/20]

TEST_F	(	CommandGuardTest	,
		KeepaliveIsDueEveryPeriodAfterThePublication	)

TEST_F() [10/20]

TEST_F	(	CommandGuardTest	,
		KeepaliveIsDueRightAfterTheClockJumpsBack	)

TEST_F() [11/20]

TEST_F	(	CommandGuardTest	,
		NoKeepaliveIfDisabled	)

TEST_F() [12/20]

TEST_F	(	CommandGuardTest	,
		NonFiniteProposalsAreDiscarded	)

TEST_F() [13/20]

TEST_F	(	CommandGuardTest	,
		OnlyNewControllerCommandsAreProposed	)

TEST_F() [14/20]

TEST_F	(	CommandGuardTest	,
		OnlyNonFiniteProposalsEndInATimeout	)

TEST_F() [15/20]

TEST_F	(	CommandGuardTest	,
		PauseWhileTimedOutCommandsZero	)

TEST_F() [16/20]

TEST_F	(	CommandGuardTest	,
		QosKeepsOnlyTheLatestCommandAndOffersADeadlineWithAKeepalive	)

TEST_F() [17/20]

TEST_F	(	CommandGuardTest	,
		RepeatedJumpsBackStillTimeOut	)

TEST_F() [18/20]

TEST_F	(	CommandGuardTest	,
		ResetForgetsTheTimeout	)

TEST_F() [19/20]

TEST_F	(	CommandGuardTest	,
		TimeoutMustBeLongerThanTheControllerPeriod	)

TEST_F() [20/20]

TEST_F	(	CommandGuardTest	,
		ZeroTimeoutDisablesIt	)