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arturkamienieckiarturkamieniecki
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Add serialization test
Signed-off-by: Artur Kamieniecki <[email protected]>
1 parent 32fad04 commit 157a515

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5 files changed

+196
-10000
lines changed

5 files changed

+196
-10000
lines changed

‎Gems/ROS2Sensors/Code/Include/ROS2Sensors/Sensor/ROS2SensorComponentBase.h

+15-14
Original file line numberDiff line numberDiff line change
@@ -46,20 +46,21 @@ namespace ROS2
4646
{
4747
if (auto* serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
4848
{
49-
serializeContext->Class<ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>, AZ::Component>()->Version(1)->Field(
50-
"SensorConfiguration", &ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>::m_sensorConfiguration);
51-
52-
if (auto* editContext = serializeContext->GetEditContext())
53-
{
54-
editContext
55-
->Class<ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>>(
56-
"ROS2 Sensor Component Base", "Base component for sensors")
57-
->DataElement(
58-
AZ::Edit::UIHandlers::Default,
59-
&ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>::m_sensorConfiguration,
60-
"Sensor configuration",
61-
"Sensor configuration");
62-
}
49+
serializeContext->Class<ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>, AZ::Component>()->Version(1);
50+
// ->Field(
51+
// "SensorConfiguration", &ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>::m_sensorConfiguration);
52+
53+
// if (auto* editContext = serializeContext->GetEditContext())
54+
// {
55+
// editContext
56+
// ->Class<ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>>(
57+
// "ROS2 Sensor Component Base", "Base component for sensors")
58+
// ->DataElement(
59+
// AZ::Edit::UIHandlers::Default,
60+
// &ROS2SensorComponentBase<EventSourceT, ComponentConfigurationT>::m_sensorConfiguration,
61+
// "Sensor configuration",
62+
// "Sensor configuration");
63+
// }
6364
}
6465
}
6566

‎Gems/ROS2Sensors/Code/Source/Odometry/ROS2WheelOdometry.cpp

+21-20
Original file line numberDiff line numberDiff line change
@@ -104,29 +104,30 @@ namespace ROS2
104104
jsonContext->Serializer<JsonROS2WheelOdometryComponentConfigSerializer>()->HandlesType<ROS2WheelOdometryComponent>();
105105
}
106106

107-
ROS2WheelOdometryConfiguration::Reflect(context);
108-
ROS2SensorComponentBase<PhysicsBasedSource, ROS2WheelOdometryConfiguration>::Reflect(context);
107+
// ROS2WheelOdometryConfiguration::Reflect(context);
108+
// ROS2SensorComponentBase<PhysicsBasedSource, ROS2WheelOdometryConfiguration>::Reflect(context);
109109

110110
if (auto* serialize = azrtti_cast<AZ::SerializeContext*>(context))
111111
{
112-
serialize->Class<ROS2WheelOdometryComponent, SensorBaseType>()->Version(2)->Field(
113-
"Odometry configuration", &ROS2WheelOdometryComponent::m_odometryConfiguration);
114-
115-
if (auto* editContext = serialize->GetEditContext())
116-
{
117-
editContext->Class<ROS2WheelOdometryComponent>("ROS2 Wheel Odometry Sensor", "Odometry sensor component")
118-
->ClassElement(AZ::Edit::ClassElements::EditorData, "")
119-
->Attribute(AZ::Edit::Attributes::Category, "ROS2")
120-
->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game"))
121-
->Attribute(AZ::Edit::Attributes::Icon, "Editor/Icons/Components/ROS2WheelOdometrySensor.svg")
122-
->Attribute(AZ::Edit::Attributes::ViewportIcon, "Editor/Icons/Components/Viewport/ROS2WheelOdometrySensor.svg")
123-
->DataElement(
124-
AZ::Edit::UIHandlers::Default,
125-
&ROS2WheelOdometryComponent::m_odometryConfiguration,
126-
"Odometry configuration",
127-
"Odometry sensor configuration")
128-
->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly);
129-
}
112+
serialize->Class<ROS2WheelOdometryComponent, SensorBaseType>()->Version(2);
113+
// ->Field(
114+
// "Odometry configuration", &ROS2WheelOdometryComponent::m_odometryConfiguration);
115+
116+
// if (auto* editContext = serialize->GetEditContext())
117+
// {
118+
// editContext->Class<ROS2WheelOdometryComponent>("ROS2 Wheel Odometry Sensor", "Odometry sensor component")
119+
// ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
120+
// ->Attribute(AZ::Edit::Attributes::Category, "ROS2")
121+
// ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game"))
122+
// ->Attribute(AZ::Edit::Attributes::Icon, "Editor/Icons/Components/ROS2WheelOdometrySensor.svg")
123+
// ->Attribute(AZ::Edit::Attributes::ViewportIcon, "Editor/Icons/Components/Viewport/ROS2WheelOdometrySensor.svg")
124+
// ->DataElement(
125+
// AZ::Edit::UIHandlers::Default,
126+
// &ROS2WheelOdometryComponent::m_odometryConfiguration,
127+
// "Odometry configuration",
128+
// "Odometry sensor configuration")
129+
// ->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly);
130+
// }
130131
}
131132
}
132133

‎Gems/ROS2Sensors/Code/Tests/Odometry/ROS2WheelOdometrySerializationTest.cpp

+115-84
Original file line numberDiff line numberDiff line change
@@ -1,99 +1,130 @@
1-
#include "AzCore/Component/Entity.h"
2-
#include "AzCore/RTTI/ReflectContext.h"
3-
#include "AzCore/Serialization/Json/BaseJsonSerializer.h"
4-
#include "AzCore/Serialization/Json/JsonSerialization.h"
5-
#include "AzCore/Serialization/SerializeContext.h"
6-
#include "Odometry/ROS2WheelOdometry.h"
7-
#include <AzCore/IO/Streamer/Streamer.h>
8-
#include <AzCore/IO/Streamer/StreamerComponent.h>
9-
#include <AzCore/Memory/Memory.h>
10-
#include <AzCore/Memory/SystemAllocator.h>
1+
#include <Odometry/ROS2WheelOdometry.h>
112
#include <AzCore/UnitTest/TestTypes.h>
123
#include <AzTest/AzTest.h>
13-
14-
#include <AzCore/Serialization/Json/JsonSystemComponent.h>
15-
#include <AzCore/UserSettings/UserSettingsComponent.h>
16-
#include <AzTest/GemTestEnvironment.h>
17-
#include <AzToolsFramework/UnitTest/ToolsTestApplication.h>
4+
#include <rapidjson/stringbuffer.h>
5+
#include <rapidjson/writer.h>
186

197
namespace UnitTest
208
{
21-
class ROS2SensorsTestEnvironment : public AZ::Test::GemTestEnvironment
22-
{
23-
// AZ::Test::GemTestEnvironment overrides ...
24-
void AddGemsAndComponents() override;
25-
AZ::ComponentApplication* CreateApplicationInstance() override;
26-
void PostSystemEntityActivate() override;
27-
28-
public:
29-
ROS2SensorsTestEnvironment() = default;
30-
~ROS2SensorsTestEnvironment() override = default;
31-
};
32-
33-
void ROS2SensorsTestEnvironment::AddGemsAndComponents()
34-
{
35-
AddActiveGems(AZStd::to_array<AZStd::string_view>({ "ROS2", "ROS2Sensors"}));
36-
AddDynamicModulePaths({ "ROS2" });
37-
// AddComponentDescriptors(AZStd::initializer_list<AZ::ComponentDescriptor*>{ ROS2::ROS2WheelOdometryComponent::CreateDescriptor(),
38-
// AZ::JsonSystemComponent::CreateDescriptor() });
39-
// AddRequiredComponents(AZStd::to_array<AZ::TypeId const>({ AZ::JsonSystemComponent::TYPEINFO_Uuid() }));
40-
}
41-
42-
AZ::ComponentApplication* ROS2SensorsTestEnvironment::CreateApplicationInstance()
43-
{
44-
// Using ToolsTestApplication to have AzFramework and AzToolsFramework components.
45-
return aznew UnitTest::ToolsTestApplication("ROS2SensorsTestEnvironment");
46-
}
47-
48-
void ROS2SensorsTestEnvironment::PostSystemEntityActivate()
49-
{
50-
AZ::UserSettingsComponentRequestBus::Broadcast(&AZ::UserSettingsComponentRequests::DisableSaveOnFinalize);
51-
}
52-
539
class ROS2SensorsTestFixture : public ::testing::Test
5410
{
5511
};
5612

57-
// Smoke test
58-
TEST_F(ROS2SensorsTestFixture, WheelOdometryComponent)
13+
// Store test for the old schema, where there is no configuration class.
14+
TEST_F(ROS2SensorsTestFixture, Deserialize_WhenOldSchemaProvided_StoresSuccessfully)
5915
{
60-
// Create a WheelOdometryComponent and check if it is created successfully
61-
// ROS2::ROS2WheelOdometryComponent wheelOdometryComponent;
62-
// EXPECT_NE(wheelOdometryComponent, nullptr);
16+
ROS2::ROS2WheelOdometryComponent wheelOdometryComponent;
17+
18+
rapidjson::Document jsonDocument(rapidjson::kObjectType);
19+
jsonDocument.Parse(R"({
20+
"Twist covariance": {
21+
"Linear covariance": [
22+
123.0,
23+
456.0,
24+
789.0
25+
],
26+
"Angular covariance": [
27+
987.0,
28+
654.0,
29+
321.0
30+
]
31+
},
32+
"Pose covariance": {
33+
"Linear covariance": [
34+
321.0,
35+
654.0,
36+
987.0
37+
],
38+
"Angular covariance": [
39+
789.0,
40+
456.0,
41+
123.0
42+
]
43+
}
44+
})");
45+
46+
AZ::JsonDeserializerSettings settings;
47+
auto storeResult = AZ::JsonSerialization::Load(wheelOdometryComponent, jsonDocument, settings);
48+
49+
EXPECT_EQ(storeResult.GetOutcome(), AZ::JsonSerializationResult::Outcomes::PartialDefaults);
50+
51+
rapidjson::Document document(rapidjson::kObjectType);
52+
document.Parse("{}");
53+
54+
AZ::JsonSerializerSettings serializerSettings;
55+
serializerSettings.m_keepDefaults = true;
56+
57+
AZ::JsonSerializationResult::ResultCode resultCode =
58+
AZ::JsonSerialization::Store(document, document.GetAllocator(), wheelOdometryComponent, serializerSettings);
59+
60+
EXPECT_EQ(resultCode.GetOutcome(), AZ::JsonSerializationResult::Outcomes::Success);
61+
62+
rapidjson::StringBuffer buffer;
63+
rapidjson::Writer<rapidjson::StringBuffer> writer(buffer);
64+
document.Accept(writer);
65+
66+
const char* expectedOutput =
67+
R"~({"Id":0,"SensorConfiguration":{"Visualize":true,"Publishing Enabled":true,"Frequency (HZ)":10.0,"Publishers":{"nav_msgs::msg::Odometry":{"Type":"nav_msgs::msg::Odometry","Topic":"odom","QoS":{"Reliability":2,"Durability":2,"Depth":5}}}},"Odometry configuration":{"Pose covariance":{"Linear covariance":[321.0,654.0,987.0],"Angular covariance":[789.0,456.0,123.0]},"Twist covariance":{"Linear covariance":[123.0,456.0,789.0],"Angular covariance":[987.0,654.0,321.0]}}})~";
68+
EXPECT_STREQ(buffer.GetString(), expectedOutput);
6369
}
6470

65-
// Store test
66-
TEST_F(ROS2SensorsTestFixture, WheelOdometryComponentStore)
71+
// Store test for the new schema, where there is a configuration class.
72+
TEST_F(ROS2SensorsTestFixture, Deserialize_WhenNewSchemaProvided_StoresSuccessfully)
6773
{
68-
// // Create a WheelOdometryComponent and check if it is created successfully
69-
// ROS2::ROS2WheelOdometryComponent wheelOdometryComponent;
70-
// // EXPECT_NE(wheelOdometryComponent, nullptr);
71-
72-
// // Create a JSON object to store the component's configuration
73-
// rapidjson::Document document;
74-
// document.SetObject();
75-
76-
// AZ::Entity entity;
77-
// // auto* wheelOdometryComponent
78-
79-
// auto jsonDocument = AZStd::make_unique<rapidjson::Document>();
80-
81-
// AZ::JsonDeserializerSettings settings;
82-
// auto storeResult = AZ::JsonSerialization::Load(wheelOdometryComponent, *jsonDocument, settings);
83-
84-
// // Check if the store operation was successful
85-
// EXPECT_EQ(storeResult.GetOutcome(), AZ::JsonSerializationResult::Outcomes::Success);
74+
ROS2::ROS2WheelOdometryComponent wheelOdometryComponent;
75+
76+
rapidjson::Document jsonDocument(rapidjson::kObjectType);
77+
jsonDocument.Parse(R"({
78+
"Odometry configuration": {
79+
"Twist covariance": {
80+
"Linear covariance": [
81+
123.0,
82+
456.0,
83+
789.0
84+
],
85+
"Angular covariance": [
86+
987.0,
87+
654.0,
88+
321.0
89+
]
90+
},
91+
"Pose covariance": {
92+
"Linear covariance": [
93+
321.0,
94+
654.0,
95+
987.0
96+
],
97+
"Angular covariance": [
98+
789.0,
99+
456.0,
100+
123.0
101+
]
102+
}
103+
}
104+
})");
105+
106+
AZ::JsonDeserializerSettings settings;
107+
auto storeResult = AZ::JsonSerialization::Load(wheelOdometryComponent, jsonDocument, settings);
108+
109+
EXPECT_EQ(storeResult.GetOutcome(), AZ::JsonSerializationResult::Outcomes::PartialDefaults);
110+
111+
rapidjson::Document document(rapidjson::kObjectType);
112+
document.Parse("{}");
113+
114+
AZ::JsonSerializerSettings serializerSettings;
115+
serializerSettings.m_keepDefaults = true;
116+
117+
AZ::JsonSerializationResult::ResultCode resultCode =
118+
AZ::JsonSerialization::Store(document, document.GetAllocator(), wheelOdometryComponent, serializerSettings);
119+
120+
EXPECT_EQ(resultCode.GetOutcome(), AZ::JsonSerializationResult::Outcomes::Success);
121+
122+
rapidjson::StringBuffer buffer;
123+
rapidjson::Writer<rapidjson::StringBuffer> writer(buffer);
124+
document.Accept(writer);
125+
126+
const char* expectedOutput =
127+
R"~({"Id":0,"SensorConfiguration":{"Visualize":true,"Publishing Enabled":true,"Frequency (HZ)":10.0,"Publishers":{"nav_msgs::msg::Odometry":{"Type":"nav_msgs::msg::Odometry","Topic":"odom","QoS":{"Reliability":2,"Durability":2,"Depth":5}}}},"Odometry configuration":{"Pose covariance":{"Linear covariance":[321.0,654.0,987.0],"Angular covariance":[789.0,456.0,123.0]},"Twist covariance":{"Linear covariance":[123.0,456.0,789.0],"Angular covariance":[987.0,654.0,321.0]}}})~";
128+
EXPECT_STREQ(buffer.GetString(), expectedOutput);
86129
}
87130
} // namespace UnitTest
88-
89-
// required to support running integration tests with Qt and PhysX
90-
AZTEST_EXPORT int AZ_UNIT_TEST_HOOK_NAME(int argc, char** argv)
91-
{
92-
::testing::InitGoogleMock(&argc, argv);
93-
AZ::Test::printUnusedParametersWarning(argc, argv);
94-
AZ::Test::addTestEnvironments({ new UnitTest::ROS2SensorsTestEnvironment() });
95-
int result = RUN_ALL_TESTS();
96-
return result;
97-
}
98-
99-
IMPLEMENT_TEST_EXECUTABLE_MAIN();

‎Gems/ROS2Sensors/Code/Tests/Tools/ROS2SensorsEditorTest.cpp

+45-1
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,50 @@
66
*
77
*/
88

9+
#include <AzCore/UserSettings/UserSettingsComponent.h>
910
#include <AzTest/AzTest.h>
11+
#include <AzTest/GemTestEnvironment.h>
12+
#include <AzToolsFramework/UnitTest/ToolsTestApplication.h>
1013

11-
// AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV);
14+
namespace UnitTest
15+
{
16+
class ROS2SensorsTestEnvironment : public AZ::Test::GemTestEnvironment
17+
{
18+
// AZ::Test::GemTestEnvironment overrides ...
19+
void AddGemsAndComponents() override;
20+
AZ::ComponentApplication* CreateApplicationInstance() override;
21+
void PostSystemEntityActivate() override;
22+
23+
public:
24+
ROS2SensorsTestEnvironment() = default;
25+
~ROS2SensorsTestEnvironment() override = default;
26+
};
27+
28+
void ROS2SensorsTestEnvironment::AddGemsAndComponents()
29+
{
30+
AddActiveGems(AZStd::to_array<AZStd::string_view>({ "ROS2", "ROS2Sensors" }));
31+
AddDynamicModulePaths({ "ROS2", "ROS2Sensors" });
32+
}
33+
34+
AZ::ComponentApplication* ROS2SensorsTestEnvironment::CreateApplicationInstance()
35+
{
36+
// Using ToolsTestApplication to have AzFramework and AzToolsFramework components.
37+
return aznew UnitTest::ToolsTestApplication("ROS2SensorsTestEnvironment");
38+
}
39+
40+
void ROS2SensorsTestEnvironment::PostSystemEntityActivate()
41+
{
42+
AZ::UserSettingsComponentRequestBus::Broadcast(&AZ::UserSettingsComponentRequests::DisableSaveOnFinalize);
43+
}
44+
} // namespace UnitTest
45+
46+
AZTEST_EXPORT int AZ_UNIT_TEST_HOOK_NAME(int argc, char** argv)
47+
{
48+
::testing::InitGoogleMock(&argc, argv);
49+
AZ::Test::printUnusedParametersWarning(argc, argv);
50+
AZ::Test::addTestEnvironments({ new UnitTest::ROS2SensorsTestEnvironment() });
51+
int result = RUN_ALL_TESTS();
52+
return result;
53+
}
54+
55+
IMPLEMENT_TEST_EXECUTABLE_MAIN();

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