ref(random_test_runner): adapt to getEntity changes - return reference

tier4 · Jan 3, 2025 · 57fcf94 · 57fcf94
1 parent 38c7c87
commit 57fcf94
Show file tree

Hide file tree

Showing 2 changed files with 22 additions and 24 deletions.
diff --git a/test_runner/random_test_runner/include/random_test_runner/test_executor.hpp b/test_runner/random_test_runner/include/random_test_runner/test_executor.hpp
@@ -92,9 +92,9 @@ class TestExecutor
           ego_name_, ego_start_canonicalized_lanelet_pose.value(), getVehicleParameters(),
           traffic_simulator::VehicleBehavior::autoware(), "lexus_rx450h");
 
-        auto ego_entity = api_->getEgoEntity(ego_name_);
+        auto & ego_entity = api_->getEgoEntity(ego_name_);
 
-        ego_entity->setStatus(
+        ego_entity.setStatus(
           ego_start_canonicalized_lanelet_pose.value(),
           traffic_simulator::helper::constructActionStatus());
 
@@ -122,15 +122,15 @@ class TestExecutor
             return configuration;
           }());
 
-          ego_entity->template setParameter<bool>("allow_goal_modification", true);
+          ego_entity.template setParameter<bool>("allow_goal_modification", true);
         }
 
         // XXX dirty hack: wait for autoware system to launch
         // ugly but helps for now
         std::this_thread::sleep_for(std::chrono::milliseconds{5000});
 
-        ego_entity->requestAssignRoute(std::vector({test_description_.ego_goal_pose}));
-        ego_entity->engage();
+        ego_entity.requestAssignRoute(std::vector({test_description_.ego_goal_pose}));
+        ego_entity.engage();
 
         goal_reached_metric_.setGoal(test_description_.ego_goal_pose);
 
@@ -149,13 +149,13 @@ class TestExecutor
               npc_descr.name, npc_start_canonicalized_lanelet_pose.value(), getVehicleParameters(),
               traffic_simulator::VehicleBehavior::defaultBehavior(), "taxi");
 
-            auto entity = api_->getEntity(npc_descr.name);
+            auto & entity = api_->getEntity(npc_descr.name);
 
-            entity->setStatus(
+            entity.setStatus(
               npc_start_canonicalized_lanelet_pose.value(),
               traffic_simulator::helper::constructActionStatus(npc_descr.speed));
 
-            entity->requestSpeedChange(npc_descr.speed, true);
+            entity.requestSpeedChange(npc_descr.speed, true);
           }
         }
       }
@@ -166,9 +166,9 @@ class TestExecutor
   {
     executeWithErrorHandling([this]() {
       if (!api_->isNpcLogicStarted()) {
-        if (api_->isAnyEgoSpawned()) {
-          auto ego_entity = api_->getEgoEntity(ego_name_);
-          if (ego_entity->isEngageable()) {
+        if (api_->isEntityExist(ego_name_)) {
+          auto & ego_entity = api_->getEgoEntity(ego_name_);
+          if (ego_entity.isEngageable()) {
             api_->startNpcLogic();
           }
         } else {
@@ -180,14 +180,14 @@ class TestExecutor
 
       if (!std::isnan(current_time)) {
         if (goal_reached_metric_.isGoalReached(
-              api_->getEntity(ego_name_)->getCanonicalizedStatus())) {
+              api_->getEntity(ego_name_).getCanonicalizedStatus())) {
           scenario_completed_ = true;
         }
 
         bool timeout_reached = current_time >= test_timeout_;
         if (timeout_reached) {
           if (!goal_reached_metric_.isGoalReached(
-                api_->getEntity(ego_name_)->getCanonicalizedStatus())) {
+                api_->getEntity(ego_name_).getCanonicalizedStatus())) {
             RCLCPP_INFO(logger_, "Timeout reached");
             error_reporter_.reportTimeout();
           }
@@ -208,10 +208,10 @@ class TestExecutor
       }
 
       if (almost_standstill_metric_.isAlmostStandingStill(
-            api_->getEntity(ego_name_)->getCanonicalizedStatus())) {
+            api_->getEntity(ego_name_).getCanonicalizedStatus())) {
         RCLCPP_INFO(logger_, "Standstill duration exceeded");
         if (goal_reached_metric_.isGoalReached(
-              api_->getEntity(ego_name_)->getCanonicalizedStatus())) {
+              api_->getEntity(ego_name_).getCanonicalizedStatus())) {
           RCLCPP_INFO(logger_, "Goal reached, standstill expected");
         } else {
           error_reporter_.reportStandStill();

diff --git a/test_runner/random_test_runner/test/test_test_executor.cpp b/test_runner/random_test_runner/test/test_test_executor.cpp
@@ -121,7 +121,6 @@ class MockTrafficSimulatorAPI
     (const std::string &, const traffic_simulator::CanonicalizedLaneletPose &,
      const traffic_simulator_msgs::msg::VehicleParameters &),
     ());
-  MOCK_METHOD(bool, isAnyEgoSpawned, (), ());
   MOCK_METHOD(bool, isNpcLogicStarted, (), ());
   MOCK_METHOD(void, startNpcLogic, (), ());
   MOCK_METHOD(bool, despawn, (const std::string), ());
@@ -133,21 +132,20 @@ class MockTrafficSimulatorAPI
   MOCK_METHOD(bool, isEntityExist, (const std::string &), ());
   MOCK_METHOD(bool, checkCollision, (const std::string &, const std::string &), ());
 
-  auto getEntity(const std::string & name) const
-    -> std::shared_ptr<::testing::StrictMock<MockEntity>>
+  auto getEntity(const std::string & name) -> ::testing::StrictMock<MockEntity> &
   {
     getEntityMock(name);
     if (name == ego_name_) {
-      return ego_entity_;
+      return *ego_entity_;
+    } else {
+      throw std::runtime_error("Entity " + name + " does not exist");
     }
-    return std::make_shared<::testing::StrictMock<MockEntity>>();
   }
 
-  auto getEgoEntity(const std::string & name) const
-    -> std::shared_ptr<::testing::StrictMock<MockEntity>>
+  auto getEgoEntity(const std::string & name) -> ::testing::StrictMock<MockEntity> &
   {
     getEgoEntityMock(name);
-    return ego_entity_;
+    return *ego_entity_;
   }
 
   /// Real member function required for the canonicalization of the lanelet pose in TestExecutor.InitializeWithNoNPCs test
@@ -229,7 +227,7 @@ TEST(TestExecutor, UpdateNoNPCs)
     .Times(1)
     .InSequence(sequence)
     .WillOnce(::testing::Return(false));
-  EXPECT_CALL(*MockAPI, isAnyEgoSpawned)
+  EXPECT_CALL(*MockAPI, isEntityExist)
     .Times(1)
     .InSequence(sequence)
     .WillOnce(::testing::Return(false));