Merge pull request #294 from v4hn/pr-fallbacks-split-tests

new set of fallback tests
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Michael Görner 2021-09-20 23:13:10 +02:00 committed by GitHub
commit e89c68ced0
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4 changed files with 218 additions and 18 deletions

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@ -18,13 +18,16 @@ if (CATKIN_ENABLE_TESTING)
catkin_add_gtest(${PROJECT_NAME}-test-serial test_serial.cpp)
target_link_libraries(${PROJECT_NAME}-test-serial ${PROJECT_NAME} ${PROJECT_NAME}_stages gtest_utils gtest_main)
catkin_add_gmock(${PROJECT_NAME}-test-fallback test_fallback.cpp)
target_link_libraries(${PROJECT_NAME}-test-fallback ${PROJECT_NAME} ${PROJECT_NAME}_stages gtest_utils gtest_main)
catkin_add_gtest(${PROJECT_NAME}-test-properties test_properties.cpp)
target_link_libraries(${PROJECT_NAME}-test-properties ${PROJECT_NAME} gtest_main)
catkin_add_gmock(${PROJECT_NAME}-test-cost_queue test_cost_queue.cpp)
target_link_libraries(${PROJECT_NAME}-test-cost_queue ${PROJECT_NAME} gtest_main)
catkin_add_gtest(${PROJECT_NAME}-test-interface_state test_interface_state.cpp)
catkin_add_gmock(${PROJECT_NAME}-test-interface_state test_interface_state.cpp)
target_link_libraries(${PROJECT_NAME}-test-interface_state ${PROJECT_NAME} gtest_utils gtest_main)
catkin_add_gtest(${PROJECT_NAME}-test-cost_terms test_cost_terms.cpp)

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@ -1,8 +1,14 @@
#pragma once
#include <moveit/task_constructor/stage_p.h>
#include <moveit/task_constructor/task.h>
#include <moveit/planning_scene/planning_scene.h>
#include "models.h"
#include <gtest/gtest.h>
#include <gmock/gmock.h>
namespace moveit {
namespace task_constructor {
@ -113,5 +119,23 @@ struct BackwardMockup : public PropagatorMockup
// reset ids of all Mockup types (used to generate unique stage names)
void resetMockupIds();
// provide a basic test fixture that prepares a Task
struct TaskTestBase : public testing::Test
{
Task t;
TaskTestBase() {
resetMockupIds();
t.setRobotModel(getModel());
}
};
#define EXPECT_COSTS(value, matcher) \
{ \
std ::vector<double> costs; \
std::transform(value.begin(), value.end(), std::back_inserter(costs), \
[](const SolutionBaseConstPtr& s) { return s->cost(); }); \
EXPECT_THAT(costs, matcher); \
}
} // namespace task_constructor
} // namespace moveit

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@ -669,19 +669,3 @@ TEST(Task, timeout) {
EXPECT_TRUE(t.plan());
EXPECT_EQ(t.solutions().size(), 2u);
}
TEST(Fallback, failing) {
resetMockupIds();
Task t;
t.setRobotModel(getModel());
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(0.0)));
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0), 0));
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0), 0));
t.add(std::move(fallback));
EXPECT_FALSE(t.plan());
EXPECT_EQ(t.solutions().size(), 0u);
}

189
core/test/test_fallback.cpp Normal file
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@ -0,0 +1,189 @@
#include <moveit/task_constructor/container_p.h>
#include <moveit/task_constructor/stage_p.h>
#include <moveit/task_constructor/task_p.h>
#include <moveit/task_constructor/stages/fixed_state.h>
#include <moveit/planning_scene/planning_scene.h>
#include "stage_mockups.h"
#include "models.h"
#include "gtest_value_printers.h"
#include <gtest/gtest.h>
#include <initializer_list>
#include <chrono>
#include <thread>
using namespace moveit::task_constructor;
constexpr double INF = std::numeric_limits<double>::infinity();
using FallbacksFixtureGenerator = TaskTestBase;
TEST_F(FallbacksFixtureGenerator, DISABLED_stayWithFirstSuccessful) {
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(INF)));
fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(1.0)));
fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(2.0)));
t.add(std::move(fallback));
EXPECT_TRUE(t.plan());
ASSERT_EQ(t.solutions().size(), 1u);
EXPECT_EQ(t.solutions().front()->cost(), 1.0);
}
using FallbacksFixturePropagate = TaskTestBase;
TEST_F(FallbacksFixturePropagate, failingNoSolutions) {
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(0.0)));
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({}), 0));
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({}), 0));
t.add(std::move(fallback));
EXPECT_FALSE(t.plan());
EXPECT_EQ(t.solutions().size(), 0u);
}
TEST_F(FallbacksFixturePropagate, failingWithFailedSolutions) {
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(0.0)));
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(INF)));
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(INF)));
t.add(std::move(fallback));
EXPECT_FALSE(t.plan());
EXPECT_EQ(t.solutions().size(), 0u);
}
TEST_F(FallbacksFixturePropagate, DISABLED_ComputeFirstSuccessfulStageOnly) {
t.add(std::make_unique<GeneratorMockup>());
auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
t.add(std::move(fallbacks));
EXPECT_TRUE(t.plan());
EXPECT_EQ(t.numSolutions(), 1u);
}
TEST_F(FallbacksFixturePropagate, DISABLED_ComputeFirstSuccessfulStagePerSolutionOnly) {
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 2.0, 1.0 })));
// duplicate generator solutions with resulting costs: 4, 2 | 3, 1
t.add(std::make_unique<ForwardMockup>(PredefinedCosts({ 2.0, 0.0, 2.0, 0.0 }), 2));
auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF, INF, 110.0, 120.0 })));
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 210.0, 220.0, 0, 0 })));
t.add(std::move(fallbacks));
EXPECT_TRUE(t.plan());
EXPECT_COSTS(t.solutions(), testing::ElementsAre(113, 124, 211, 222));
}
TEST_F(FallbacksFixturePropagate, DISABLED_UpdateSolutionOrder) {
t.add(std::make_unique<BackwardMockup>(PredefinedCosts({ 10.0, 0.0 })));
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 1.0, 2.0 })));
// available solutions (sorted) in individual runs of fallbacks: 1 | 11, 2 | 2, 11
// use a fallback container to delay computation twice: only the last child succeeds
auto inner = std::make_unique<Fallbacks>("Inner");
inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF }, false)));
inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF }, false)));
inner->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::move(inner));
t.add(std::move(fallbacks));
EXPECT_TRUE(t.plan(1)); // only return 1st solution
EXPECT_COSTS(t.solutions(), testing::ElementsAre(2)); // expecting less costly solution as result
}
TEST_F(FallbacksFixturePropagate, DISABLED_MultipleActivePendingStates) {
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 2.0, 1.0, 3.0 })));
// use a fallback container to delay computation: the 1st child never succeeds, but only the 2nd
auto inner = std::make_unique<Fallbacks>("Inner");
inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF }, false))); // always fail
inner->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 10.0, INF, 30.0 })));
auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::move(inner));
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF })));
t.add(std::move(fallbacks));
EXPECT_TRUE(t.plan());
EXPECT_COSTS(t.solutions(), testing::ElementsAre(11, 33));
// check that first solution is not marked as pruned
}
TEST_F(FallbacksFixturePropagate, DISABLED_successfulWithMixedSolutions) {
t.add(std::make_unique<GeneratorMockup>());
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF, 1.0 }), 2));
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
t.add(std::move(fallback));
EXPECT_TRUE(t.plan());
EXPECT_COSTS(t.solutions(), testing::ElementsAre(1.0));
}
TEST_F(FallbacksFixturePropagate, DISABLED_successfulWithMixedSolutions2) {
t.add(std::make_unique<GeneratorMockup>());
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 1.0, INF }), 2));
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
t.add(std::move(fallback));
EXPECT_TRUE(t.plan());
EXPECT_COSTS(t.solutions(), testing::ElementsAre(1.0));
}
TEST_F(FallbacksFixturePropagate, DISABLED_ActiveChildReset) {
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 1.0, INF, 3.0 })));
auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(10.0)));
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(20.0)));
auto fwd1 = fallbacks->findChild("FWD1");
auto fwd2 = fallbacks->findChild("FWD2");
t.add(std::move(fallbacks));
EXPECT_TRUE(t.plan());
EXPECT_COSTS(t.solutions(), testing::ElementsAre(11, 13));
EXPECT_COSTS(fwd1->solutions(), testing::ElementsAre(10, 10));
EXPECT_COSTS(fwd2->solutions(), testing::IsEmpty());
}
using FallbacksFixtureConnect = TaskTestBase;
TEST_F(FallbacksFixtureConnect, DISABLED_ConnectStageInsideFallbacks) {
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 1.0, 2.0 })));
auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::make_unique<ConnectMockup>(PredefinedCosts::constant(0.0)));
fallbacks->add(std::make_unique<ConnectMockup>(PredefinedCosts::constant(100.0)));
t.add(std::move(fallbacks));
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 10.0, 20.0 })));
EXPECT_TRUE(t.plan());
EXPECT_COSTS(t.solutions(), testing::ElementsAre(11, 12, 21, 22));
}
int main(int argc, char** argv) {
for (int i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--debug") == 0) {
if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
ros::console::notifyLoggerLevelsChanged();
break;
}
}
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}