move to planning test utils

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

planning/planning_test_utils/CMakeLists.txt

@@ -4,7 +4,23 @@ project(planning_test_utils)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+ament_auto_add_library(route_parser SHARED
+  src/route_parser.cpp)
+
+target_link_libraries(route_parser
+  yaml-cpp
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_route_parser
+    test/test_route_parser.cpp)
+
+  target_link_libraries(test_route_parser
+    route_parser)
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE
   config
   test_map
+  test_data
 )

planning/route_handler/test/route_parser.hpp → planning/planning_test_utils/include/planning_test_utils/route_parser.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROUTE_PARSER_HPP_
-#define ROUTE_PARSER_HPP_
+#ifndef PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
+#define PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
 
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace route_handler::test
+namespace test_utils
 {
 using autoware_planning_msgs::msg::LaneletPrimitive;
 using autoware_planning_msgs::msg::LaneletRoute;
@@ -41,6 +41,6 @@ std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node);
 std::vector<LaneletSegment> parse_segments(const YAML::Node & node);
 
 LaneletRoute parse_route_file(const std::string & filename);
-}  // namespace route_handler::test
+}  // namespace test_utils
 
-#endif  // ROUTE_PARSER_HPP_
+#endif  // PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_

planning/route_handler/test/route_parser.cpp → planning/planning_test_utils/src/route_parser.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "route_parser.hpp"
+#include "planning_test_utils/route_parser.hpp"
 
 #include <rclcpp/logging.hpp>
 
@@ -27,7 +27,7 @@
 #include <string>
 #include <vector>
 
-namespace route_handler::test
+namespace test_utils
 {
 Pose parse_pose(const YAML::Node & node)
 {
@@ -89,4 +89,4 @@ LaneletRoute parse_route_file(const std::string & filename)
   }
   return lanelet_route;
 }
-}  // namespace route_handler::test
+}  // namespace test_utils

planning/route_handler/test/test_route_parser.cpp → planning/planning_test_utils/test/test_route_parser.cpp

@@ -16,9 +16,9 @@
 
 // Assuming the parseRouteFile function is in 'RouteHandler.h'
 #include "ament_index_cpp/get_package_share_directory.hpp"
-#include "route_parser.hpp"
+#include "planning_test_utils/route_parser.hpp"
 
-namespace route_handler::test
+namespace test_utils
 {
 // Example YAML structure as a string for testing
 const char g_complete_yaml[] = R"(
@@ -94,8 +94,9 @@ TEST(ParseFunctions, CompleteYAMLTest)
 TEST(ParseFunction, CompleteFromFilename)
 {
   const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("route_handler");
-  const auto parser_test_route = planning_test_utils_dir + "/test_route/parser_test.route";
+    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto parser_test_route =
+    planning_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
 
   const auto lanelet_route = parse_route_file(parser_test_route);
   EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
@@ -130,4 +131,4 @@ TEST(ParseFunction, CompleteFromFilename)
   EXPECT_EQ(segment1.primitives[3].id, 88);
   EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
 }
-}  // namespace route_handler::test
+}  // namespace test_utils

planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml

@@ -0,0 +1,41 @@
+start_pose:
+  position:
+    x: 1.0
+    y: 2.0
+    z: 3.0
+  orientation:
+    x: 0.1
+    y: 0.2
+    z: 0.3
+    w: 0.4
+goal_pose:
+  position:
+    x: 4.0
+    y: 5.0
+    z: 6.0
+  orientation:
+    x: 0.5
+    y: 0.6
+    z: 0.7
+    w: 0.8
+segments:
+  - preferred_primitive:
+      id: 11
+      primitive_type: ""
+    primitives:
+      - id: 22
+        primitive_type: lane
+      - id: 33
+        primitive_type: lane
+  - preferred_primitive:
+      id: 44
+      primitive_type: ""
+    primitives:
+      - id: 55
+        primitive_type: lane
+      - id: 66
+        primitive_type: lane
+      - id: 77
+        primitive_type: lane
+      - id: 88
+        primitive_type: lane

planning/route_handler/CMakeLists.txt

@@ -9,30 +9,15 @@ ament_auto_add_library(route_handler SHARED
 )
 
 if(BUILD_TESTING)
-  ament_auto_add_library(route_parser SHARED
-    test/route_parser.cpp)
-
-  target_link_libraries(route_parser
-    yaml-cpp
-  )
-
-  ament_add_ros_isolated_gtest(test_route_parser
-    test/test_route_parser.cpp)
-
   ament_add_ros_isolated_gtest(test_route_handler
     test/test_route_handler.cpp)
 
-  target_link_libraries(test_route_parser
-    route_parser)
-
   target_link_libraries(test_route_handler
     route_handler
-    route_parser
   )
 
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE
-  test_map
   test_route
 )

planning/route_handler/package.xml

@@ -27,6 +27,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
+  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_ros</depend>

planning/route_handler/test/test_route_handler.cpp

@@ -14,7 +14,7 @@
 
 #include "test_route_handler.hpp"
 
-#include "route_parser.hpp"
+#include "planning_test_utils/route_parser.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -28,7 +28,7 @@ TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
     ament_index_cpp::get_package_share_directory("route_handler");
   const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
   ASSERT_FALSE(route_handler_->isHandlerReady());
-  route_handler_->setRoute(parse_route_file(rh_test_route));
+  route_handler_->setRoute(test_utils::parse_route_file(rh_test_route));
   ASSERT_TRUE(route_handler_->isHandlerReady());
 }
 
@@ -38,7 +38,7 @@ TEST_F(TestRouteHandler, checkIfIDReturned)
     ament_index_cpp::get_package_share_directory("route_handler");
   const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
 
-  route_handler_->setRoute(parse_route_file(rh_test_route));
+  route_handler_->setRoute(test_utils::parse_route_file(rh_test_route));
   const auto lanelet = route_handler_->getLaneletsFromId(4870);
 
   const auto is_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet);

planning/route_handler/test/test_route_handler.hpp

@@ -65,8 +65,8 @@ class TestRouteHandler : public ::testing::Test
   static HADMapBin makeMapBinMsg()
   {
     const auto planning_test_utils_dir =
-      ament_index_cpp::get_package_share_directory("route_handler");
-    const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
+      ament_index_cpp::get_package_share_directory("planning_test_utils");
+    const auto lanelet2_path = planning_test_utils_dir + "/test_map/2km_test.osm";
     double center_line_resolution = 5.0;
     // load map from file
     const auto map = loadMap(lanelet2_path);