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refactor(test_utils): return parser as optional #9391

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merged 6 commits into from
Dec 3, 2024
Merged

refactor(test_utils): return parser as optional #9391

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a8cf60a
refactor(test_utils): return parser as optional
zulfaqar-azmi-t4 Nov 20, 2024
a33c9fe
use if with initalizer statement.
zulfaqar-azmi-t4 Nov 20, 2024
5afc075
refactoring and fix cppcheck error
zulfaqar-azmi-t4 Nov 20, 2024
30fc12e
minor refactoring
zulfaqar-azmi-t4 Nov 22, 2024
00a1dad
Exception handling on the loadPathWithLaneIdInYaml
zulfaqar-azmi-t4 Nov 28, 2024
e3c74c5
error handling
zulfaqar-azmi-t4 Nov 28, 2024
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5 changes: 3 additions & 2 deletions common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@

#include <array>
#include <memory>
#include <optional>
#include <string>
#include <utility>
#include <vector>
Expand Down Expand Up @@ -197,10 +198,10 @@ template <typename T>
T parse(const std::string & filename);

template <>
LaneletRoute parse(const std::string & filename);
std::optional<LaneletRoute> parse(const std::string & filename);

template <>
PathWithLaneId parse(const std::string & filename);
std::optional<PathWithLaneId> parse(const std::string & filename);

template <typename MessageType>
auto create_const_shared_ptr(MessageType && payload)
Expand Down
7 changes: 6 additions & 1 deletion common/autoware_test_utils/src/autoware_test_utils.cpp
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Expand Up @@ -310,7 +310,12 @@ PathWithLaneId loadPathWithLaneIdInYaml()
const auto yaml_path =
get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml");

return parse<PathWithLaneId>(yaml_path);
if (const auto path = parse<std::optional<PathWithLaneId>>(yaml_path)) {
return *path;
}

throw std::runtime_error(
"Failed to parse YAML file: " + yaml_path + ". The file might be corrupted.");
}

lanelet::ConstLanelet make_lanelet(
Expand Down
45 changes: 18 additions & 27 deletions common/autoware_test_utils/src/mock_data_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
#include <rclcpp/logging.hpp>

#include <algorithm>
#include <optional>
#include <string>
#include <vector>

Expand Down Expand Up @@ -220,11 +221,7 @@
{
std::vector<PathPointWithLaneId> path_points;

if (!node["points"]) {
return path_points;
}

const auto & points = node["points"];
const auto & points = node;
path_points.reserve(points.size());
std::transform(
points.begin(), points.end(), std::back_inserter(path_points), [&](const YAML::Node & input) {
Expand Down Expand Up @@ -428,36 +425,30 @@
}

template <>
LaneletRoute parse(const std::string & filename)
std::optional<LaneletRoute> parse(const std::string & filename)
{
LaneletRoute lanelet_route;
try {
YAML::Node config = YAML::LoadFile(filename);

lanelet_route.start_pose = (config["start_pose"]) ? parse<Pose>(config["start_pose"]) : Pose();
lanelet_route.goal_pose = (config["goal_pose"]) ? parse<Pose>(config["goal_pose"]) : Pose();
lanelet_route.segments = parse<std::vector<LaneletSegment>>(config["segments"]);
} catch (const std::exception & e) {
RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what());
YAML::Node node = YAML::LoadFile(filename);
if (!node["start_pose"] || !node["goal_pose"] || !node["segments"]) {

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❌ New issue: Complex Conditional 

parse has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
return std::nullopt;

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}
return lanelet_route;

return parse<LaneletRoute>(node);
}

template <>
PathWithLaneId parse(const std::string & filename)
std::optional<PathWithLaneId> parse(const std::string & filename)
{
PathWithLaneId path;
YAML::Node yaml_node = YAML::LoadFile(filename);

try {
path.header = parse<Header>(yaml_node["header"]);
path.points = parse<std::vector<PathPointWithLaneId>>(yaml_node);
path.left_bound = parse<std::vector<Point>>(yaml_node["left_bound"]);
path.right_bound = parse<std::vector<Point>>(yaml_node["right_bound"]);
} catch (const std::exception & e) {
RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what());
YAML::Node node = YAML::LoadFile(filename);

if (!node["header"] || !node["points"] || !node["left_bound"] || !node["right_bound"]) {

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Conditional 

parse has 1 complex conditionals with 3 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
return std::nullopt;

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}

PathWithLaneId path;
path.header = parse<Header>(node["header"]);
path.points = parse<std::vector<PathPointWithLaneId>>(node["points"]);
path.left_bound = parse<std::vector<Point>>(node["left_bound"]);
path.right_bound = parse<std::vector<Point>>(node["right_bound"]);
return path;
}
} // namespace autoware::test_utils
140 changes: 75 additions & 65 deletions common/autoware_test_utils/test/test_mock_data_parser.cpp
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Expand Up @@ -788,38 +788,44 @@ TEST(ParseFunction, CompleteFromFilename)
const auto parser_test_route =
autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";

const auto lanelet_route = parse<LaneletRoute>(parser_test_route);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);
if (const auto lanelet_route_opt = parse<std::optional<LaneletRoute>>(parser_test_route)) {
const auto & lanelet_route = *lanelet_route_opt;
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);

EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4);

EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7);
EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8);

ASSERT_EQ(
lanelet_route.segments.size(),
uint64_t(2)); // Assuming only one segment in the provided YAML for this test
const auto & segment1 = lanelet_route.segments[1];
EXPECT_EQ(segment1.preferred_primitive.id, 44);
EXPECT_EQ(segment1.primitives.size(), uint64_t(4));
EXPECT_EQ(segment1.primitives[0].id, 55);
EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
EXPECT_EQ(segment1.primitives[1].id, 66);
EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
EXPECT_EQ(segment1.primitives[2].id, 77);
EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
EXPECT_EQ(segment1.primitives[3].id, 88);
EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
ASSERT_EQ(
lanelet_route.segments.size(),
uint64_t(2)); // Assuming only one segment in the provided YAML for this test
const auto & segment1 = lanelet_route.segments[1];
EXPECT_EQ(segment1.preferred_primitive.id, 44);
EXPECT_EQ(segment1.primitives.size(), uint64_t(4));
EXPECT_EQ(segment1.primitives[0].id, 55);
EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
EXPECT_EQ(segment1.primitives[1].id, 66);
EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
EXPECT_EQ(segment1.primitives[2].id, 77);
EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
EXPECT_EQ(segment1.primitives[3].id, 88);
EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
} else {
const std::string fail_reason =
"Failed to parse YAML file: " + parser_test_route + ". The file might be corrupted.";
FAIL() << fail_reason;
}
}

TEST(ParseFunction, ParsePathWithLaneID)
Expand All @@ -829,45 +835,49 @@ TEST(ParseFunction, ParsePathWithLaneID)
const auto parser_test_path =
autoware_test_utils_dir + "/test_data/path_with_lane_id_parser_test.yaml";

const auto path = parse<PathWithLaneId>(parser_test_path);
EXPECT_EQ(path.header.stamp.sec, 20);
EXPECT_EQ(path.header.stamp.nanosec, 5);
if (const auto path_opt = parse<std::optional<PathWithLaneId>>(parser_test_path)) {
const auto & path = *path_opt;
EXPECT_EQ(path.header.stamp.sec, 20);
EXPECT_EQ(path.header.stamp.nanosec, 5);

const auto path_points = path.points;
const auto & p1 = path_points.front();
EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9);
EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8);
EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0);
EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2);
EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4);
EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6);
EXPECT_TRUE(p1.point.is_final);
EXPECT_EQ(p1.lane_ids.front(), 912);
const auto path_points = path.points;
const auto & p1 = path_points.front();
EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9);
EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8);
EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0);
EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0);
EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2);
EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4);
EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6);
EXPECT_TRUE(p1.point.is_final);
EXPECT_EQ(p1.lane_ids.front(), 912);

const auto & p2 = path_points.back();
EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0);
EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5);
EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0);
EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1);
EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3);
EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5);
EXPECT_FALSE(p2.point.is_final);
EXPECT_EQ(p2.lane_ids.front(), 205);
const auto & p2 = path_points.back();
EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0);
EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5);
EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0);
EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0);
EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1);
EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3);
EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5);
EXPECT_FALSE(p2.point.is_final);
EXPECT_EQ(p2.lane_ids.front(), 205);

EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0);
EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0);
EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0);
EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0);
EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0);
EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0);

EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55);
EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66);
EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77);
EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55);
EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66);
EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77);
} else {
FAIL() << "Yaml file might've corrupted.";
}
}
} // namespace autoware::test_utils
23 changes: 15 additions & 8 deletions planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
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Expand Up @@ -279,9 +279,13 @@
void PlanningInterfaceTestManager::publishNominalPathWithLaneId(
rclcpp::Node::SharedPtr target_node, std::string topic_name)
{
autoware::test_utils::publishToTargetNode(
test_node_, target_node, topic_name, normal_path_with_lane_id_pub_,
autoware::test_utils::loadPathWithLaneIdInYaml(), 5);
try {
const auto path = autoware::test_utils::loadPathWithLaneIdInYaml();
autoware::test_utils::publishToTargetNode(
test_node_, target_node, topic_name, normal_path_with_lane_id_pub_, path, 5);
} catch (const std::exception & e) {
std::cerr << e.what() << '\n';
}

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}

void PlanningInterfaceTestManager::publishAbNominalPathWithLaneId(
Expand All @@ -294,11 +298,14 @@
void PlanningInterfaceTestManager::publishNominalPath(
rclcpp::Node::SharedPtr target_node, std::string topic_name)
{
autoware::test_utils::publishToTargetNode(
test_node_, target_node, topic_name, normal_path_pub_,
autoware::motion_utils::convertToPath<tier4_planning_msgs::msg::PathWithLaneId>(
autoware::test_utils::loadPathWithLaneIdInYaml()),
5);
try {
const auto path = autoware::test_utils::loadPathWithLaneIdInYaml();
autoware::test_utils::publishToTargetNode(
test_node_, target_node, topic_name, normal_path_pub_,
autoware::motion_utils::convertToPath<tier4_planning_msgs::msg::PathWithLaneId>(path), 5);
} catch (const std::exception & e) {
std::cerr << e.what() << '\n';
}

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}

void PlanningInterfaceTestManager::publishAbnormalPath(
Expand Down
15 changes: 13 additions & 2 deletions planning/autoware_route_handler/test/test_route_handler.hpp
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Expand Up @@ -45,7 +45,11 @@ class TestRouteHandler : public ::testing::Test
TestRouteHandler()
{
set_route_handler("2km_test.osm");
set_test_route(lane_change_right_test_route_filename);
try {
set_test_route(lane_change_right_test_route_filename);
} catch (const std::exception & e) {
std::cerr << e.what() << '\n';
}
}

TestRouteHandler(const TestRouteHandler &) = delete;
Expand All @@ -68,7 +72,14 @@ class TestRouteHandler : public ::testing::Test
{
const auto rh_test_route =
get_absolute_path_to_route(autoware_route_handler_dir, route_filename);
route_handler_->setRoute(autoware::test_utils::parse<LaneletRoute>(rh_test_route));
if (
const auto route_opt =
autoware::test_utils::parse<std::optional<LaneletRoute>>(rh_test_route)) {
route_handler_->setRoute(*route_opt);
} else {
throw std::runtime_error(
"Failed to parse YAML file: " + rh_test_route + ". The file might be corrupted.");
}
}

lanelet::ConstLanelets get_current_lanes()
Expand Down
6 changes: 5 additions & 1 deletion ...or_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
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Expand Up @@ -126,7 +126,11 @@ class TestNormalLaneChange : public ::testing::Test
auto route_handler_ptr = std::make_shared<RouteHandler>(map_bin_msg);
const auto rh_test_route =
get_absolute_path_to_route(autoware_route_handler_dir, lane_change_right_test_route_filename);
route_handler_ptr->setRoute(autoware::test_utils::parse<LaneletRoute>(rh_test_route));
if (
const auto route_opt =
autoware::test_utils::parse<std::optional<LaneletRoute>>(rh_test_route)) {
route_handler_ptr->setRoute(*route_opt);
}

return route_handler_ptr;
}
Expand Down
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