Merge branch 'main' into mau/refactor/localization/tree_structured_pa…

…rzen_estimator

.github/workflows/build-and-test-differential-arm64.yaml

@@ -32,10 +32,14 @@ jobs:
             container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
-      - name: Check out repository
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Show disk space before the tasks
         run: df -h

.github/workflows/build-and-test-differential.yaml

@@ -31,10 +31,14 @@ jobs:
             container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
-      - name: Check out repository
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Show disk space before the tasks
         run: df -h
@@ -74,40 +78,3 @@ jobs:
 
       - name: Show disk space after the tasks
         run: df -h
-
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Show disk space before the tasks
-        run: df -h
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Get modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos

.github/workflows/clang-tidy-differential.yaml

@@ -0,0 +1,53 @@
+name: clang-tidy-differential
+
+on:
+  pull_request:
+    types:
+      - opened
+      - synchronize
+      - labeled
+
+jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:run-clang-tidy-differential
+
+  clang-tidy-differential:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v35
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          build-depends-repos: build_depends.repos

common/.pages

@@ -3,6 +3,7 @@ nav:
   - 'Testing Libraries':
     - 'autoware_testing': common/autoware_testing/design/autoware_testing-design
     - 'fake_test_node': common/fake_test_node/design/fake_test_node-design
+    - 'Test Utils': common/autoware_test_utils
   - 'Common Libraries':
     - 'autoware_auto_common':
       - 'comparisons': common/autoware_auto_common/design/comparisons

common/autoware_test_utils/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_test_utils)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(autoware_test_utils SHARED
+  src/autoware_test_utils.cpp)
+
+ament_auto_add_library(mock_data_parser SHARED
+  src/mock_data_parser.cpp)
+
+target_link_libraries(mock_data_parser
+  yaml-cpp
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_mock_data_parser
+    test/test_mock_data_parser.cpp)
+
+  target_link_libraries(test_mock_data_parser
+    mock_data_parser)
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  test_map
+  test_data
+)

common/autoware_test_utils/README.md

@@ -0,0 +1,40 @@
+# Test Utils
+
+## Background
+
+Several Autoware's components and modules have already adopted unit testing, so a common library to ease the process of writing unit tests is necessary.
+
+## Purpose
+
+The objective of the `test_utils` is to develop a unit testing library for the Autoware components. This library will include
+
+- commonly used functions
+- input/mock data parser
+- maps for testing
+- common routes and mock data for testing.
+
+## Available Maps
+
+The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_test_utils/test_map)
+
+### Common
+
+The common map contains multiple types of usable inputs, including shoulder lanes, intersections, and some regulatory elements. The common map is named `lanelet2_map.osm` in the folder.
+
+![common](./images/common.png)
+
+### 2 km Straight
+
+The 2 km straight lanelet map consists of two lanes that run in the same direction. The map is named `2km_test.osm`.
+
+![two_km](./images/2km-test.png)
+
+The following illustrates the design of the map.
+
+![straight_diagram](./images/2km-test.svg)
+
+## Example use cases
+
+### Autoware Planning Test Manager
+
+The goal of the [Autoware Planning Test Manager](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_planning_test_manager/) is to test planning module nodes. The `PlanningInterfaceTestManager` class ([source code](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp)) creates wrapper functions based on the `test_utils` functions.