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| // Copyright 2024 AIT - Austrian Institute of Technology GmbH | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_ | ||
| #define CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_ | ||
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| #include <fmt/core.h> | ||
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| #include <string> | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <rsl/parameter_validators.hpp> | ||
| #include <tl_expected/expected.hpp> | ||
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| namespace control_filters { | ||
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| /** | ||
| * @brief gt_eq, but check only if the value is not NaN | ||
| */ | ||
| template <typename T> | ||
| tl::expected<void, std::string> gt_eq_or_nan( | ||
| rclcpp::Parameter const& parameter, T expected_value) { | ||
| auto param_value = parameter.as_double(); | ||
| if (!std::isnan(param_value)) { | ||
| // check only if the value is not NaN | ||
| return rsl::gt_eq<T>(parameter, expected_value); | ||
| } | ||
| return {}; | ||
| } | ||
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| /** | ||
| * @brief lt_eq, but check only if the value is not NaN | ||
| */ | ||
| template <typename T> | ||
| tl::expected<void, std::string> lt_eq_or_nan( | ||
| rclcpp::Parameter const& parameter, T expected_value) { | ||
| auto param_value = parameter.as_double(); | ||
| if (!std::isnan(param_value)) { | ||
| // check only if the value is not NaN | ||
| return rsl::lt_eq<T>(parameter, expected_value); | ||
| } | ||
| return {}; | ||
| } | ||
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| } // namespace control_filters | ||
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| #endif // CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,101 @@ | ||
| // Copyright 2024 AIT - Austrian Institute of Technology GmbH | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "test_rate_limiter.hpp" | ||
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| TEST_F(RateLimiterTest, TestRateLimiterAllParameters) | ||
| { | ||
| std::shared_ptr<filters::FilterBase<double>> filter_ = | ||
| std::make_shared<control_filters::RateLimiter<double>>(); | ||
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| // should allow configuration and find parameters in sensor_filter_chain param namespace | ||
| ASSERT_TRUE(filter_->configure("", "TestRateLimiter", | ||
| node_->get_node_logging_interface(), node_->get_node_parameters_interface())); | ||
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| // change a parameter | ||
| node_->set_parameter(rclcpp::Parameter("sampling_interval", 0.5)); | ||
| // accept second call to configure with valid parameters to already configured filter | ||
| ASSERT_TRUE(filter_->configure("", "TestRateLimiter", | ||
| node_->get_node_logging_interface(), node_->get_node_parameters_interface())); | ||
| } | ||
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| TEST_F(RateLimiterTest, TestRateLimiterMissingParameter) | ||
| { | ||
| std::shared_ptr<filters::FilterBase<double>> filter_ = | ||
| std::make_shared<control_filters::RateLimiter<double>>(); | ||
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| // should deny configuration as sampling_interval is missing | ||
| ASSERT_FALSE(filter_->configure("", "TestRateLimiter", | ||
| node_->get_node_logging_interface(), node_->get_node_parameters_interface())); | ||
| } | ||
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| TEST_F(RateLimiterTest, TestRateLimiterInvalidThenFixedParameter) | ||
| { | ||
| std::shared_ptr<filters::FilterBase<double>> filter_ = | ||
| std::make_shared<control_filters::RateLimiter<double>>(); | ||
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| // should deny configuration as sampling_interval is invalid | ||
| ASSERT_FALSE(filter_->configure("", "TestRateLimiter", | ||
| node_->get_node_logging_interface(), node_->get_node_parameters_interface())); | ||
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| // fix the param | ||
| node_->set_parameter(rclcpp::Parameter("sampling_interval", 1.0)); | ||
| // should allow configuration and pass second call to unconfigured filter | ||
| ASSERT_TRUE(filter_->configure("", "TestRateLimiter", | ||
| node_->get_node_logging_interface(), node_->get_node_parameters_interface())); | ||
| } | ||
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| TEST_F(RateLimiterTest, TestRateLimiterThrowsUnconfigured) | ||
| { | ||
| std::shared_ptr<filters::FilterBase<double>> filter_ = | ||
| std::make_shared<control_filters::RateLimiter<double>>(); | ||
| double in, out; | ||
| ASSERT_THROW(filter_->update(in, out), std::runtime_error); | ||
| } | ||
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| TEST_F(RateLimiterTest, TestRateLimiterCompute) | ||
| { | ||
| std::shared_ptr<filters::FilterBase<double>> filter_ = | ||
| std::make_shared<control_filters::RateLimiter<double>>(); | ||
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| ASSERT_TRUE(filter_->configure("", "TestRateLimiter", | ||
| node_->get_node_logging_interface(), node_->get_node_parameters_interface())); | ||
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| double in = 10.0, out; | ||
| for (int i = 0; i < 10; i++) | ||
| { | ||
| ASSERT_NO_THROW(filter_->update(in, out)); | ||
| // no change | ||
| EXPECT_THAT(out, ::testing::DoubleEq(in)); | ||
| } | ||
| in = 0.0; | ||
| // takes 14 steps to reach 0 (first (10.0/1.0) plus second derivative limits) | ||
| for (int i = 0; i < 14; i++) | ||
| { | ||
| ASSERT_NO_THROW(filter_->update(in, out)); | ||
| EXPECT_THAT(out, ::testing::Not(::testing::DoubleNear(in, 1e-6))) << "i=" << i; | ||
| } | ||
| ASSERT_NO_THROW(filter_->update(in, out)); | ||
| EXPECT_THAT(out, ::testing::DoubleNear(in, 1e-6)); | ||
| } | ||
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| int main(int argc, char ** argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| rclcpp::init(argc, argv); | ||
| int result = RUN_ALL_TESTS(); | ||
| rclcpp::shutdown(); | ||
| return result; | ||
| } |
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