system_component_faults_tests.cpp File Reference

SystemNode with a localizer, planner or maps manager that misbehaves (FaultyLocalizer, FaultyPlanner, FaultyMapsManager). More...

#include <atomic>
#include <chrono>
#include <memory>
#include <optional>
#include <string>
#include <thread>
#include <vector>
#include "gtest/gtest.h"
#include "diagnostic_msgs/msg/diagnostic_status.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "nav_msgs/msg/goals.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "nav_msgs/msg/path.hpp"
#include "rclcpp/rclcpp.hpp"
#include "easynav_system/RealTime.hpp"
#include "easynav_system/SystemNode.hpp"

Include dependency graph for system_component_faults_tests.cpp:

Classes
class	SystemComponentFaultsTest

Functions
std::vector< std::string >	faulty_localizer (const std::string &fault, int fault_after, std::vector< std::string > extra={})
int	run_rt_while_nort_hangs (const easynav::SystemNode::SharedPtr &system_node)
	TEST_F (SystemComponentFaultsTest, AFrozenLocalizerIsReportedButOnlyStopsTheRobotInSafetyMode)
	TEST_F (SystemComponentFaultsTest, AHangingLocalizerMakesTheRtCyclesLate)
	TEST_F (SystemComponentFaultsTest, AHangingMapsManagerDoesNotDelayTheRtCycle)
	TEST_F (SystemComponentFaultsTest, AHangingPlannerDoesNotDelayTheRtCycle)
	TEST_F (SystemComponentFaultsTest, AHealthyLocalizerIsNotReported)
	TEST_F (SystemComponentFaultsTest, AJumpingPoseIsStillUpToDate)
	TEST_F (SystemComponentFaultsTest, ALocalizerThatStopsPublishingIsReported)
	TEST_F (SystemComponentFaultsTest, ANanPathIsDiscardedSoTheControllerHasNothingToFollow)
	TEST_F (SystemComponentFaultsTest, ANanPoseIsReported)
	TEST_F (SystemComponentFaultsTest, AThrowingLocalizerIsContainedAndItsOldPoseReported)
	TEST_F (SystemComponentFaultsTest, AThrowingPlannerOrMapsManagerDoesNotStopEasyNav)

Detailed Description

SystemNode with a localizer, planner or maps manager that misbehaves (FaultyLocalizer, FaultyPlanner, FaultyMapsManager).

Function Documentation

faulty_localizer()

std::vector< std::string > faulty_localizer	(	const std::string &	fault,
		int	fault_after,
		std::vector< std::string >	extra = {} )

run_rt_while_nort_hangs()

int run_rt_while_nort_hangs

(

const easynav::SystemNode::SharedPtr &

system_node

)

TEST_F() [1/11]

TEST_F	(	SystemComponentFaultsTest	,
		AFrozenLocalizerIsReportedButOnlyStopsTheRobotInSafetyMode	)

TEST_F() [2/11]

TEST_F	(	SystemComponentFaultsTest	,
		AHangingLocalizerMakesTheRtCyclesLate	)

TEST_F() [3/11]

TEST_F	(	SystemComponentFaultsTest	,
		AHangingMapsManagerDoesNotDelayTheRtCycle	)

TEST_F() [4/11]

TEST_F	(	SystemComponentFaultsTest	,
		AHangingPlannerDoesNotDelayTheRtCycle	)

TEST_F() [5/11]

TEST_F	(	SystemComponentFaultsTest	,
		AHealthyLocalizerIsNotReported	)

TEST_F() [6/11]

TEST_F	(	SystemComponentFaultsTest	,
		AJumpingPoseIsStillUpToDate	)

TEST_F() [7/11]

TEST_F	(	SystemComponentFaultsTest	,
		ALocalizerThatStopsPublishingIsReported	)

TEST_F() [8/11]

TEST_F	(	SystemComponentFaultsTest	,
		ANanPathIsDiscardedSoTheControllerHasNothingToFollow	)

TEST_F() [9/11]

TEST_F	(	SystemComponentFaultsTest	,
		ANanPoseIsReported	)

TEST_F() [10/11]

TEST_F	(	SystemComponentFaultsTest	,
		AThrowingLocalizerIsContainedAndItsOldPoseReported	)

TEST_F() [11/11]

TEST_F	(	SystemComponentFaultsTest	,
		AThrowingPlannerOrMapsManagerDoesNotStopEasyNav	)