test(virtual_traffic_light): add unit tests for utils

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Oct 24, 2024 · 5600d8c · 5600d8c
1 parent 3711683
commit 5600d8c
Show file tree

Hide file tree

Showing 4 changed files with 475 additions and 1 deletion.
diff --git a/...planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/...planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
@@ -84,7 +84,7 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason
     return true;
   }
   const auto & stop_pose = stop_point->second;
-  setDistance(autoware::motion_utils::calcSignedArcLength(
+  setDistance(autoware::motion_utils::calcSignedArcwLength(
     original_path.points, current_pose->pose.position, stop_pose.position));
   if (planning_utils::isOverLine(
         original_path, current_pose->pose, stop_pose, planner_param_.dead_line_margin)) {

diff --git a/...r_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/...r_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt
@@ -13,3 +13,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 ament_auto_package(INSTALL_TO_SHARE config)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    ${TEST_SOURCES}
+  )
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+endif()
diff --git a/...vior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/...vior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
@@ -32,6 +32,7 @@
   <depend>tier4_v2x_msgs</depend>
   <depend>visualization_msgs</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>