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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DDS/tests/test_ap_dds_external_odom.cpp
Views: 1799
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#include <AP_gtest.h>

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#include <AP_DDS/AP_DDS_config.h>

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#include <AP_DDS/AP_DDS_External_Odom.h>

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#include "geometry_msgs/msg/TransformStamped.h"

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#include <AP_HAL/AP_HAL.h>

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#if AP_DDS_VISUALODOM_ENABLED

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const AP_HAL::HAL &hal = AP_HAL::get_HAL();

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TEST(AP_DDS_EXTERNAL_ODOM, test_is_odometry_success)

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{

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    geometry_msgs_msg_TransformStamped msg {};

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    strncpy(msg.header.frame_id, "odom", strlen("odom") + 1);

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    strncpy(msg.child_frame_id, "base_link", strlen("base_link") + 1);

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    ASSERT_TRUE(AP_DDS_External_Odom::is_odometry_frame(msg));

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    strncpy(msg.header.frame_id, "invalid", strlen("invalid") + 1);

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    strncpy(msg.child_frame_id, "base_link", strlen("base_link") + 1);

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    ASSERT_FALSE(AP_DDS_External_Odom::is_odometry_frame(msg));

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    strncpy(msg.header.frame_id, "odom", strlen("odom") + 1);

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    strncpy(msg.child_frame_id, "invalid", strlen("invalid") + 1);

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    ASSERT_FALSE(AP_DDS_External_Odom::is_odometry_frame(msg));

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    strncpy(msg.header.frame_id, "odom_with_invalid_extra", strlen("odom_with_invalid_extra") + 1);

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    strncpy(msg.child_frame_id, "base_link", strlen("base_link") + 1);

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    ASSERT_FALSE(AP_DDS_External_Odom::is_odometry_frame(msg));

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    strncpy(msg.header.frame_id, "odom", strlen("odom") + 1);

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    strncpy(msg.child_frame_id, "base_link_with_invalid_extra", strlen("base_link_with_invalid_extra") + 1);

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    ASSERT_FALSE(AP_DDS_External_Odom::is_odometry_frame(msg));

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    strncpy(msg.header.frame_id, "x", strlen("x") + 1);

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    strncpy(msg.child_frame_id, "base_link", strlen("base_link") + 1);

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    ASSERT_FALSE(AP_DDS_External_Odom::is_odometry_frame(msg));

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}

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#endif // AP_DDS_VISUALODOM_ENABLED

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AP_GTEST_MAIN()

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