From cc1863baf1a8c9bc84bde192394955e0f0afd06e Mon Sep 17 00:00:00 2001 From: Szymon Lis Date: Tue, 21 May 2024 09:38:19 +0200 Subject: [PATCH 1/4] Added Vehicle Dynamics Test Fixed Vehicle Dynamics Tests Refactor Vehicle Dynamics Test Fix to update to main Added Vehicle Dynamics Test --- Assets/Tests/PlayMode/VehicleDynamics.meta | 8 + .../PlayMode/VehicleDynamics/Settings.meta | 8 + .../Settings/TestVolumeProfile.asset | 370 ++++++++ .../Settings/TestVolumeProfile.asset.meta | 8 + .../VehicleDynamics/VehicleDynamicsTest.cs | 635 +++++++++++++ .../VehicleDynamicsTest.cs.meta | 11 + .../VehicleDynamics/VehicleDynamicsTest.unity | 837 ++++++++++++++++++ .../VehicleDynamicsTest.unity.meta | 7 + ProjectSettings/EditorBuildSettings.asset | 3 + 9 files changed, 1887 insertions(+) create mode 100644 Assets/Tests/PlayMode/VehicleDynamics.meta create mode 100644 Assets/Tests/PlayMode/VehicleDynamics/Settings.meta create mode 100644 Assets/Tests/PlayMode/VehicleDynamics/Settings/TestVolumeProfile.asset create mode 100644 Assets/Tests/PlayMode/VehicleDynamics/Settings/TestVolumeProfile.asset.meta create mode 100644 Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs create mode 100644 Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs.meta create mode 100644 Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.unity create mode 100644 Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.unity.meta diff --git a/Assets/Tests/PlayMode/VehicleDynamics.meta b/Assets/Tests/PlayMode/VehicleDynamics.meta new file mode 100644 index 000000000..725ac63d4 --- /dev/null +++ b/Assets/Tests/PlayMode/VehicleDynamics.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 8fb6ee2443e776dbda83605ed63d883e +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Tests/PlayMode/VehicleDynamics/Settings.meta 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+using AWSIM; +using ROS2; + + +public class VehicleDynamicsTest +{ + // Scene handlers + string sceneName = "VehicleDynamicsTest"; + Scene scene; + PhysicsScene physicsScene; + + // Ego handlers + GameObject egoGameObject; + Vehicle egoVehicle; + VehicleRos2Input egoRosInput; + + // ROS publishers + ROS2.IPublisher gearCommandPublisher; + ROS2.IPublisher movementPublisher; + + // Gear commands + autoware_auto_vehicle_msgs.msg.GearCommand parkGearCommand = new autoware_auto_vehicle_msgs.msg.GearCommand() + { + Command = autoware_auto_vehicle_msgs.msg.GearCommand.PARK + }; + autoware_auto_vehicle_msgs.msg.GearCommand driveGearCommand = new autoware_auto_vehicle_msgs.msg.GearCommand() + { + Command = autoware_auto_vehicle_msgs.msg.GearCommand.DRIVE + }; + + // Move commands + autoware_auto_control_msgs.msg.AckermannControlCommand moveCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = 1.0f + } + }; + autoware_auto_control_msgs.msg.AckermannControlCommand breakCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = -2.0f + } + }; + + // Turn commands + autoware_auto_control_msgs.msg.AckermannControlCommand leftCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = 1.0f + }, + Lateral = new autoware_auto_control_msgs.msg.AckermannLateralCommand() { + Steering_tire_angle = 0.6f + } + }; + autoware_auto_control_msgs.msg.AckermannControlCommand rightCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = 1.0f + }, + Lateral = new autoware_auto_control_msgs.msg.AckermannLateralCommand() { + Steering_tire_angle = -0.6f + } + }; + + // Shared settings + QoSSettings qosSettings = new QoSSettings() + { + ReliabilityPolicy = ReliabilityPolicy.QOS_POLICY_RELIABILITY_RELIABLE, + DurabilityPolicy = DurabilityPolicy.QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, + HistoryPolicy = HistoryPolicy.QOS_POLICY_HISTORY_KEEP_LAST + }; + + private float acceptableErrorDistance = 0.01f; + + + // --- TEST LIFE CYCLE ---// + + [UnitySetUp] + public IEnumerator Setup() + { + yield return LoadSceneAsync(); + yield return GetEgoComponents(); + yield return CreateEgoCommonPublihers(); + yield return new WaitForFixedUpdate(); + } + + private IEnumerator LoadSceneAsync() + { + LoadSceneParameters parameters = new LoadSceneParameters(LoadSceneMode.Single, LocalPhysicsMode.Physics3D); + AsyncOperation aOp = EditorSceneManager.LoadSceneAsync(sceneName, parameters); + + yield return new WaitUntil(() => aOp.isDone); + scene = EditorSceneManager.GetSceneByName(sceneName); + EditorSceneManager.SetActiveScene(scene); + + physicsScene = PhysicsSceneExtensions.GetPhysicsScene(scene); + + Assert.NotNull(scene); + Assert.NotNull(physicsScene); + } + + private IEnumerator GetEgoComponents() + { + egoVehicle = GameObject.FindObjectOfType(); + egoGameObject = egoVehicle.gameObject; + egoRosInput = egoGameObject.GetComponentInChildren(); + + Assert.NotNull(egoRosInput); + Assert.NotNull(egoVehicle); + + yield return new WaitForFixedUpdate(); + } + + private IEnumerator CreateEgoCommonPublihers() + { + string gearChangeTopic = egoRosInput.GetPrivateFieldValue("gearCommandTopic"); + gearCommandPublisher = SimulatorROS2Node.CreatePublisher( + gearChangeTopic, + qosSettings.GetQoSProfile() + ); + + string movementTopic = egoRosInput.GetPrivateFieldValue("ackermannControlCommandTopic"); + movementPublisher = SimulatorROS2Node.CreatePublisher( + movementTopic, + qosSettings.GetQoSProfile() + ); + yield return new WaitForFixedUpdate(); + } + + + [UnityTearDown] + public IEnumerator TearDown() + { + yield return new WaitForFixedUpdate(); + yield return RemoveEgoCommonPublishers(); + yield return RemoveEgoVehicle(); + } + + private IEnumerator RemoveEgoVehicle() + { + Rigidbody rb = egoVehicle.GetComponent(); + rb.isKinematic = true; + + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + + GameObject.DestroyImmediate(egoVehicle.gameObject); + egoVehicle = null; + egoGameObject = null; + egoRosInput = null; + //yield return new WaitForFixedUpdate(); + + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + } + + private IEnumerator RemoveEgoCommonPublishers() + { + SimulatorROS2Node.RemovePublisher(movementPublisher); + SimulatorROS2Node.RemovePublisher(gearCommandPublisher); + + yield return new WaitForFixedUpdate(); + } + + + + // --- TEST ROUTINES --- // + + [UnityTest] + public IEnumerator VehicleDynamics_StraightMove_LowAcceleration() + { + Vector3 expectedEndPosition = new Vector3(0.0005525741f, -0.07694209f, 3.983599f); + float accel = 0.5f; + + autoware_auto_control_msgs.msg.AckermannControlCommand moveCmd = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = accel + } + }; + + + // Initial physics simulation steps + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to PARK + gearCommandPublisher.Publish(parkGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle gear to DRIVE + gearCommandPublisher.Publish(driveGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Apply acceleration + movementPublisher.Publish(moveCmd); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + + float distanceToExpectedPosition = Vector3.Distance(expectedEndPosition, egoGameObject.transform.position); + Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); + } + + [UnityTest] + public IEnumerator VehicleDynamics_StraightMove_MiddleAcceleration() + { + Vector3 expectedEndPosition = new Vector3(0.003112176f, -0.07788333f, 7.9672f); + float accel = 1.0f; + + autoware_auto_control_msgs.msg.AckermannControlCommand moveCmd = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = accel + } + }; + + + // Initial physics simulation steps + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to PARK + gearCommandPublisher.Publish(parkGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to DRIVE + gearCommandPublisher.Publish(driveGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Apply acceleration + movementPublisher.Publish(moveCmd); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + + float distanceToExpectedPosition = Vector3.Distance(expectedEndPosition, egoGameObject.transform.position); + Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); + } + + [UnityTest] + public IEnumerator VehicleDynamics_StraightMove_HighAcceleration() + { + Vector3 expectedEndPosition = new Vector3(0.01421936f, -0.07976329f, 15.9344f); + float accel = 2.0f; + + autoware_auto_control_msgs.msg.AckermannControlCommand moveCmd = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = accel + } + }; + + + // Initial physics simulation steps + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to PARK + gearCommandPublisher.Publish(parkGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to DRIVE + gearCommandPublisher.Publish(driveGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Apply acceleration + movementPublisher.Publish(moveCmd); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + + float distanceToExpectedPosition = Vector3.Distance(expectedEndPosition, egoGameObject.transform.position); + Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); + } + + [UnityTest] + public IEnumerator VehicleDynamics_TurnLeft() + { + Vector3 expectedEndPosition = new Vector3(-17.19837f, -0.07222256f, 16.39548f); + + + // Initial physics simulation steps + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to PARK + gearCommandPublisher.Publish(parkGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to DRIVE + gearCommandPublisher.Publish(driveGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // move forward for 4 seconds + movementPublisher.Publish(moveCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // break for 4 seconds + movementPublisher.Publish(breakCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Turn left by 90 deg + movementPublisher.Publish(leftCommand); + for(int i=0; i<262; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // move forward for 2 seconds + movementPublisher.Publish(moveCommand); + for(int i=0; i<120; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // break for 4 seconds + movementPublisher.Publish(breakCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + + float distanceToExpectedPosition = Vector3.Distance(expectedEndPosition, egoGameObject.transform.position); + Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); + } + + [UnityTest] + public IEnumerator VehicleDynamics_RightLeft() + { + Vector3 expectedEndPosition = new Vector3(17.31582f, -0.07222262f, 16.27713f); + + + // Initial physics simulation steps + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to PARK + gearCommandPublisher.Publish(parkGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to DRIVE + gearCommandPublisher.Publish(driveGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // move forward for 4 seconds + movementPublisher.Publish(moveCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // break for 4 seconds + movementPublisher.Publish(breakCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Turn left by 90 deg + movementPublisher.Publish(rightCommand); + for(int i=0; i<262; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // move forward for 2 seconds + movementPublisher.Publish(moveCommand); + for(int i=0; i<120; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // break for 4 seconds + movementPublisher.Publish(breakCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + + float distanceToExpectedPosition = Vector3.Distance(expectedEndPosition, egoGameObject.transform.position); + Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); + } + + [UnityTest] + public IEnumerator VehicleDynamics_UTurn() + { + Vector3 expectedEndPosition = new Vector3(9.046477f, -0.07222325f, -3.879607f); + + + // Initial physics simulation steps + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to PARK + gearCommandPublisher.Publish(parkGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to DRIVE + gearCommandPublisher.Publish(driveGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // move forward for 4 seconds + movementPublisher.Publish(moveCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // break for 4 seconds + movementPublisher.Publish(breakCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Turn by 180 deg + movementPublisher.Publish(rightCommand); + for(int i=0; i<395; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // move forward for 2 seconds + movementPublisher.Publish(moveCommand); + for(int i=0; i<120; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // break for 4 seconds + movementPublisher.Publish(breakCommand); + for(int i=0; i<240; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + + float distanceToExpectedPosition = Vector3.Distance(expectedEndPosition, egoGameObject.transform.position); + Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); + } + + [UnityTest] + public IEnumerator VehicleDynamics_LineChange() + { + Vector3 expectedEndPosition = new Vector3(2.553552f, -0.07222325f, 28.81023f); + + autoware_auto_control_msgs.msg.AckermannControlCommand leftCmd = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = 1.0f + }, + Lateral = new autoware_auto_control_msgs.msg.AckermannLateralCommand() { + Steering_tire_angle = 0.0872f + } + }; + + autoware_auto_control_msgs.msg.AckermannControlCommand rightCmd = new autoware_auto_control_msgs.msg.AckermannControlCommand() + { + Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Acceleration = 1.0f + }, + Lateral = new autoware_auto_control_msgs.msg.AckermannLateralCommand() { + Steering_tire_angle = -0.0872f + } + }; + + + // Initial physics simulation steps + for(int i=0; i<10; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to PARK + gearCommandPublisher.Publish(parkGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // Set Vehicle to DRIVE + gearCommandPublisher.Publish(driveGearCommand); + for(int i=0; i<6; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // move forward + movementPublisher.Publish(moveCommand); + for(int i=0; i<120; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // change to right line + movementPublisher.Publish(rightCmd); + for(int i=0; i<159; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + movementPublisher.Publish(leftCmd); + for(int i=0; i<96; i++) + { + physicsScene.Simulate(Time.fixedDeltaTime); + yield return new WaitForFixedUpdate(); + } + + // break + movementPublisher.Publish(breakCommand); + for(int i=0; i<240; i++) 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a/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.unity.meta b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.unity.meta new file mode 100644 index 000000000..8fec77c55 --- /dev/null +++ b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.unity.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 3797dd5df5a19c8e6a66342db8c3cf49 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ProjectSettings/EditorBuildSettings.asset b/ProjectSettings/EditorBuildSettings.asset index 4071ca24d..f136b935b 100644 --- a/ProjectSettings/EditorBuildSettings.asset +++ b/ProjectSettings/EditorBuildSettings.asset @@ -17,4 +17,7 @@ EditorBuildSettings: - enabled: 1 path: Assets/Tests/PlayMode/Sensors/SensorsTest.unity guid: fdfe2b57b59c262db8bf3372757df0ea + - enabled: 1 + path: Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.unity + guid: 3797dd5df5a19c8e6a66342db8c3cf49 m_configObjects: {} From f96fcd221a0a2d35c41ac8c8e6db8ede621435dd Mon Sep 17 00:00:00 2001 From: Szymon Lis Date: Thu, 13 Jun 2024 17:22:28 +0200 Subject: [PATCH 2/4] Fix Typos --- Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs index 01db35ae2..b7e02c094 100644 --- a/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs +++ b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs @@ -155,7 +155,6 @@ private IEnumerator RemoveEgoVehicle() egoVehicle = null; egoGameObject = null; egoRosInput = null; - //yield return new WaitForFixedUpdate(); for(int i=0; i<10; i++) { @@ -401,7 +400,7 @@ public IEnumerator VehicleDynamics_TurnLeft() } [UnityTest] - public IEnumerator VehicleDynamics_RightLeft() + public IEnumerator VehicleDynamics_TurnRight() { Vector3 expectedEndPosition = new Vector3(17.31582f, -0.07222262f, 16.27713f); From c7cc0c2fa83a08744c4564e2ea0e38b4b311812f Mon Sep 17 00:00:00 2001 From: Szymon Lis Date: Thu, 4 Jul 2024 18:04:15 +0200 Subject: [PATCH 3/4] Added Missing Comments --- .../VehicleDynamics/VehicleDynamicsTest.cs | 62 ++++++++++++++++++- 1 file changed, 60 insertions(+), 2 deletions(-) diff --git a/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs index b7e02c094..256d34955 100644 --- a/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs +++ b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs @@ -8,7 +8,10 @@ using AWSIM; using ROS2; - +/// +/// The VehicleDynamicsTest class manages the testing of the ego vehicle dynamics. +/// It handles loading the necessary scenes and executing tests to validate the vehicle's behavior. +/// public class VehicleDynamicsTest { // Scene handlers @@ -82,6 +85,9 @@ public class VehicleDynamicsTest // --- TEST LIFE CYCLE ---// + /// + /// A method called by Unity at the start of each test. + /// [UnitySetUp] public IEnumerator Setup() { @@ -91,6 +97,9 @@ public IEnumerator Setup() yield return new WaitForFixedUpdate(); } + /// + /// A method to load the Unity scene and local physics scene dedicated to the vehicle dynamics test. + /// private IEnumerator LoadSceneAsync() { LoadSceneParameters parameters = new LoadSceneParameters(LoadSceneMode.Single, LocalPhysicsMode.Physics3D); @@ -106,6 +115,9 @@ private IEnumerator LoadSceneAsync() Assert.NotNull(physicsScene); } + /// + /// A method collects the required components of the tested vehicle. + /// private IEnumerator GetEgoComponents() { egoVehicle = GameObject.FindObjectOfType(); @@ -118,6 +130,9 @@ private IEnumerator GetEgoComponents() yield return new WaitForFixedUpdate(); } + /// + /// A method creates the necessary publishers for the tested vehicle. + /// private IEnumerator CreateEgoCommonPublihers() { string gearChangeTopic = egoRosInput.GetPrivateFieldValue("gearCommandTopic"); @@ -134,7 +149,9 @@ private IEnumerator CreateEgoCommonPublihers() yield return new WaitForFixedUpdate(); } - + /// + /// A method called by Unity at the end of each test. + /// [UnityTearDown] public IEnumerator TearDown() { @@ -143,6 +160,9 @@ public IEnumerator TearDown() yield return RemoveEgoVehicle(); } + /// + /// A method for disposing the tested vehicle. + /// private IEnumerator RemoveEgoVehicle() { Rigidbody rb = egoVehicle.GetComponent(); @@ -163,6 +183,9 @@ private IEnumerator RemoveEgoVehicle() } } + /// + /// A method removes the used publishers for the tested vehicle. + /// private IEnumerator RemoveEgoCommonPublishers() { SimulatorROS2Node.RemovePublisher(movementPublisher); @@ -175,6 +198,11 @@ private IEnumerator RemoveEgoCommonPublishers() // --- TEST ROUTINES --- // + /// + /// A test to check the correct behaviour of the vehicle. This test checks the position + /// of the vehicle after a given time when a low acceleration value is applied. + /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// [UnityTest] public IEnumerator VehicleDynamics_StraightMove_LowAcceleration() { @@ -225,6 +253,11 @@ public IEnumerator VehicleDynamics_StraightMove_LowAcceleration() Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); } + /// + /// A test to check the correct behaviour of the vehicle. This test checks the position + /// of the vehicle after a given time when a moderate acceleration value is applied. + /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// [UnityTest] public IEnumerator VehicleDynamics_StraightMove_MiddleAcceleration() { @@ -275,6 +308,11 @@ public IEnumerator VehicleDynamics_StraightMove_MiddleAcceleration() Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); } + /// + /// A test to check the correct behaviour of the vehicle. This test checks the position + /// of the vehicle after a given time when a high acceleration value is applied. + /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// [UnityTest] public IEnumerator VehicleDynamics_StraightMove_HighAcceleration() { @@ -325,6 +363,11 @@ public IEnumerator VehicleDynamics_StraightMove_HighAcceleration() Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); } + /// + /// A test to check the correct behaviour of the vehicle. This test checks the position + /// of the vehicle after a given commands to perform a left turn manoeuvre. + /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// [UnityTest] public IEnumerator VehicleDynamics_TurnLeft() { @@ -399,6 +442,11 @@ public IEnumerator VehicleDynamics_TurnLeft() Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); } + /// + /// A test to check the correct behaviour of the vehicle. This test checks the position + /// of the vehicle after a given commands to perform a right turn manoeuvre. + /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// [UnityTest] public IEnumerator VehicleDynamics_TurnRight() { @@ -473,6 +521,11 @@ public IEnumerator VehicleDynamics_TurnRight() Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); } + /// + /// A test to check the correct behaviour of the vehicle. This test checks the position + /// of the vehicle after a given commands to perform a U-turn manoeuvre. + /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// [UnityTest] public IEnumerator VehicleDynamics_UTurn() { @@ -547,6 +600,11 @@ public IEnumerator VehicleDynamics_UTurn() Assert.That(Utils.AreFloatsEqual(0.0f, distanceToExpectedPosition, acceptableErrorDistance), Is.True); } + /// + /// A test to check the correct behaviour of the vehicle. This test checks the position + /// of the vehicle after a given commands to perform a line change manoeuvre. + /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// [UnityTest] public IEnumerator VehicleDynamics_LineChange() { From a1dc7521f29179487da41dc127ca9dd6305481f5 Mon Sep 17 00:00:00 2001 From: Szymon Lis Date: Tue, 16 Jul 2024 17:56:09 +0200 Subject: [PATCH 4/4] Improved test description --- .../VehicleDynamics/VehicleDynamicsTest.cs | 84 ++++++++++++++----- 1 file changed, 63 insertions(+), 21 deletions(-) diff --git a/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs index 256d34955..458245c38 100644 --- a/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs +++ b/Assets/Tests/PlayMode/VehicleDynamics/VehicleDynamicsTest.cs @@ -199,9 +199,15 @@ private IEnumerator RemoveEgoCommonPublishers() // --- TEST ROUTINES --- // /// - /// A test to check the correct behaviour of the vehicle. This test checks the position - /// of the vehicle after a given time when a low acceleration value is applied. - /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Outline: + /// - A test to check the correct behaviour of the vehicle. + /// - The test checks the position of the vehicle after a given time when a low acceleration value is applied. + /// - The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Target: + /// - Check if the vehicle script responsible for receiving commands works correctly. + /// - Verify the simulation of the vehicle physics. + /// Expected Result: + /// - The distance between 'expectedEndPosition' and the vehicle's position at the end of the test is equal to or less than 0.01f. /// [UnityTest] public IEnumerator VehicleDynamics_StraightMove_LowAcceleration() @@ -254,9 +260,15 @@ public IEnumerator VehicleDynamics_StraightMove_LowAcceleration() } /// - /// A test to check the correct behaviour of the vehicle. This test checks the position - /// of the vehicle after a given time when a moderate acceleration value is applied. - /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Outline: + /// - A test to check the correct behaviour of the vehicle. + /// - The test checks the position of the vehicle after a given time when a moderate acceleration value is applied. + /// - The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Target: + /// - Check if the vehicle script responsible for receiving commands works correctly. + /// - Verify the simulation of the vehicle physics. + /// Expected Result: + /// - The distance between 'expectedEndPosition' and the vehicle's position at the end of the test is equal to or less than 0.01f. /// [UnityTest] public IEnumerator VehicleDynamics_StraightMove_MiddleAcceleration() @@ -309,9 +321,15 @@ public IEnumerator VehicleDynamics_StraightMove_MiddleAcceleration() } /// - /// A test to check the correct behaviour of the vehicle. This test checks the position - /// of the vehicle after a given time when a high acceleration value is applied. - /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Outline: + /// - A test to check the correct behaviour of the vehicle. + /// - The test checks the position of the vehicle after a given time when a high acceleration value is applied. + /// - The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Target: + /// - Check if the vehicle script responsible for receiving commands works correctly. + /// - Verify the simulation of the vehicle physics. + /// Expected Result: + /// - The distance between 'expectedEndPosition' and the vehicle's position at the end of the test is equal to or less than 0.01f. /// [UnityTest] public IEnumerator VehicleDynamics_StraightMove_HighAcceleration() @@ -364,9 +382,15 @@ public IEnumerator VehicleDynamics_StraightMove_HighAcceleration() } /// - /// A test to check the correct behaviour of the vehicle. This test checks the position - /// of the vehicle after a given commands to perform a left turn manoeuvre. - /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Outline: + /// - A test to check the correct behaviour of the vehicle. + /// - The test checks the position of the vehicle after a given commands to perform a left turn manoeuvre. + /// - The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Target: + /// - Check if the vehicle script responsible for receiving commands works correctly. + /// - Verify the simulation of the vehicle physics. + /// Expected Result: + /// - The distance between 'expectedEndPosition' and the vehicle's position at the end of the test is equal to or less than 0.01f. /// [UnityTest] public IEnumerator VehicleDynamics_TurnLeft() @@ -443,9 +467,15 @@ public IEnumerator VehicleDynamics_TurnLeft() } /// - /// A test to check the correct behaviour of the vehicle. This test checks the position - /// of the vehicle after a given commands to perform a right turn manoeuvre. - /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Outline: + /// - A test to check the correct behaviour of the vehicle. + /// - The test checks the position of the vehicle after a given commands to perform a right turn manoeuvre. + /// - The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Target: + /// - Check if the vehicle script responsible for receiving commands works correctly. + /// - Verify the simulation of the vehicle physics. + /// Expected Result: + /// - The distance between 'expectedEndPosition' and the vehicle's position at the end of the test is equal to or less than 0.01f. /// [UnityTest] public IEnumerator VehicleDynamics_TurnRight() @@ -522,9 +552,15 @@ public IEnumerator VehicleDynamics_TurnRight() } /// - /// A test to check the correct behaviour of the vehicle. This test checks the position - /// of the vehicle after a given commands to perform a U-turn manoeuvre. - /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Outline: + /// - A test to check the correct behaviour of the vehicle. + /// - The test checks the position of the vehicle after a given commands to perform a U-turn manoeuvre. + /// - The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Target: + /// - Check if the vehicle script responsible for receiving commands works correctly. + /// - Verify the simulation of the vehicle physics. + /// Expected Result: + /// - The distance between 'expectedEndPosition' and the vehicle's position at the end of the test is equal to or less than 0.01f. /// [UnityTest] public IEnumerator VehicleDynamics_UTurn() @@ -601,9 +637,15 @@ public IEnumerator VehicleDynamics_UTurn() } /// - /// A test to check the correct behaviour of the vehicle. This test checks the position - /// of the vehicle after a given commands to perform a line change manoeuvre. - /// The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Outline: + /// - A test to check the correct behaviour of the vehicle. + /// - The test checks the position of the vehicle after a given commands to perform a line change manoeuvre. + /// - The physics is manually simulated by calling the PhysicsScene.Simulate(deltaTime) method. + /// Test Target: + /// - Check if the vehicle script responsible for receiving commands works correctly. + /// - Verify the simulation of the vehicle physics. + /// Expected Result: + /// - The distance between 'expectedEndPosition' and the vehicle's position at the end of the test is equal to or less than 0.01f. /// [UnityTest] public IEnumerator VehicleDynamics_LineChange()