tests Directory Reference

Directory dependency graph for tests:

Files
	goalmanager_tests.cpp
	real_time_tests.cpp
	Real-time setup of the EasyNav process.
	rt_monitor_tests.cpp
	safety::RtMonitor, with simulated cycle start times.
	safety_channel_monitor_tests.cpp
	SafetyChannelMonitor, with simulated times.
	safety_module_tests.cpp
	The safety module of easynav_system, on its own: configuration fingerprint, parameter freezer and safety supervisor.
	system_actions_tests.cpp
	SystemNode as SystemActions (what a recovery system can ask of EasyNav), and recovery_node as one more EasyNav node.
	system_clock_watchdog_tests.cpp
	SystemNode tells which EasyNav nodes have use_sim_time and no /clock (their components never run), and warns about them while Active.
	system_component_faults_tests.cpp
	SystemNode with a localizer, planner or maps manager that misbehaves (FaultyLocalizer, FaultyPlanner, FaultyMapsManager).
	system_fault_injection_tests.cpp
	The whole RT cycle of SystemNode with a controller that misbehaves (FaultyController).
	system_lifecycle_cycle_tests.cpp
	Exercises SystemNode's own lifecycle state machine through repeated full cycles, including active -> inactive -> unconfigured -> inactive -> active.
	system_lifecycle_mission_tests.cpp
	A mission survives reconfiguring EasyNav (active -> inactive -> unconfigured -> inactive -> active, as when switching plugins at runtime) in the middle of it.
	system_pause_tests.cpp
	system_robot_geometry_tests.cpp
	SystemNode shares "robot_geometry.*" with every component before they configure.
	system_safety_mode_tests.cpp
	Configuration validation, safety mode, frozen configuration and configuration hash.
	system_shutdown_request_tests.cpp
	A shutdown requested by a recovery mitigation takes SystemNode (and every EasyNav node) out of Active through the lifecycle's error path, ending in Finalized.
	system_tfinfo_tests.cpp
	system_velocity_smoothing_tests.cpp
	End to end through SystemNode: with very low accelerations, the published commands are smoothed, never a jump to the controller's command.