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[ Software Division : Unit Testing + Development Practices ]

Created by [ Charles Zhang], last modified on Jan 09, 2020

Development Practices

• Follow the Software development style guide: https://docs.google.com/document/d/17oADZU886OFh05lsl7LI79a7sVuTLGD0C0pbeQrvhkM/edit
• All development should be done on branches created from develop using the naming convention: `USERID/FEATURE` eg: `cy9zhang/UnitTest`
• Merge requests should be made into develop and must contain:
  • Description of the changes made
  • Link to the ticket (if applicable)
  • Proof that the code works (Screenshot of unit testing results, screenshot or video of a simulation / rosbag test)
  • Thorough unit tests for edge cases (See Unit Testing)
  • Some plan for in-car testing (if applicable)

Please comment your code! we have enough un-commented code as is {.emoticon .emoticon-smile}

eg: https://git.uwaterloo.ca/WATonomous/decision/merge_requests/216

Unit Testing

Run using: catkin_make run_tests

Unit tests are located in decision/test/. Upon catkin_make run_tests, the decision/path_planning.test file is launched and results are displayed to the screen.

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Re-running the tests using rosrun path_planning local_planner_test provides a much nicer gui:

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Writing Unit Tests:

C++ Unit tests are written through RosTest using the GTest Framework

How many unit tests should I write?

• Your judgement. Test obvious edge cases, basic error cases, and at least one general case. Still, don't go overboard.
• If you expect the function you write will change very often, you can write more generic unit tests.

Adding new Unit Tests:

When adding unit tests, either add to your existing module's test file, or if you are creating a new set of unit tests for a new module / feature, create a new .cpp file for you new unit testing suite.

If you're adding a new cpp file:

• create the cpp file under test/, eg test/test_suite.cpp
• Add the new file to decision/CMakeLists.txt under local_planner_test

CMakeLists.txt

# Unit Testing Node

if(CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  add_rostest_gtest(local_planner_test
                    ./test/path_planning.test
                    ./test/utest_main.cpp
                    ./test/geom_test.cpp
                    ./test/behavioral_test.cpp
                    $
                    $)
  target_link_libraries(local_planner_test $)
  add_dependencies(local_planner_test $)
  add_dependencies(local_planner_test $)
endif()

Resources:

• http://wiki.ros.org/rostest/Writing#Example_rostest_files
• http://wiki.ros.org/gtest
• https://github.com/google/googletest/blob/master/googletest/docs/primer.md

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Document generated by Confluence on Dec 10, 2021 04:01

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