Copy tests in from 28 (#36)

PickNikRobotics · Sep 19, 2023 · d8fee9d · d8fee9d
1 parent 42c5dcc
commit d8fee9d
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Showing 4 changed files with 299 additions and 103 deletions.
diff --git a/functional_programming_tests/CMakeLists.txt b/functional_programming_tests/CMakeLists.txt
@@ -47,9 +47,11 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_gmock REQUIRED)
 
-  ament_add_gtest(with_functional_programming test/with_functional_programming.cpp TIMEOUT 5)
+  ament_add_gmock(with_functional_programming test/with_functional_programming.cpp TIMEOUT 5)
   target_compile_features(with_functional_programming PUBLIC cxx_std_20)
   ament_target_dependencies(with_functional_programming rclcpp std_msgs)
+  target_link_libraries(with_functional_programming
+	  pathing)
 
   ament_add_gtest(without_functional_programming test/without_functional_programming.cpp TIMEOUT 5)
   target_compile_features(without_functional_programming PUBLIC cxx_std_20)

diff --git a/functional_programming_tests/include/pathing/pathing.hpp b/functional_programming_tests/include/pathing/pathing.hpp
@@ -74,7 +74,7 @@ namespace generate_path {
  * @brief      Types of errors expected in the generate path callback function
  */
 enum class error {
-  NO_OCCUPANCY_MAP,
+  EMPTY_OCCUPANCY_MAP,
   INVALID_START_SIZE,
   INVALID_GOAL_SIZE,
   NO_VALID_PATH
@@ -84,7 +84,7 @@ enum class error {
  * @brief      Descriptions of the errors
  */
 std::map<error, std::string> const error_description = {
-    {error::NO_OCCUPANCY_MAP, "The Occupancy Map is empty."},
+    {error::EMPTY_OCCUPANCY_MAP, "The Occupancy Map is empty."},
     {error::INVALID_START_SIZE,
      "The start field in the request is not of size 2."},
     {error::INVALID_GOAL_SIZE,

diff --git a/functional_programming_tests/src/pathing.cpp b/functional_programming_tests/src/pathing.cpp
@@ -95,7 +95,7 @@ tl::expected<example_srvs::srv::GetPath::Response, error> generate_path(
     std::shared_ptr<example_srvs::srv::GetPath::Request> const request,
     Map<unsigned char> const& occupancy_map, PathingGenerator path_generator) {
   if (occupancy_map.get_data().size() == 0) {
-    return tl::unexpected(error::NO_OCCUPANCY_MAP);
+    return tl::unexpected(error::EMPTY_OCCUPANCY_MAP);
   }
   // Check to make sure start and goal fields of the request are of size 2
   if (request->start.data.size() != 2) {