WIP unit test

Signed-off-by: Artur Kamieniecki <[email protected]>

Author: arturkamieniecki

Gems/ROS2Sensors/Code/CMakeLists.txt

@@ -221,7 +221,7 @@ endif()
 # See if globally, tests are supported
 if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
     # We globally support tests, see if we support tests on this platform for ${gem_name}.Tests
-    if(PAL_TRAIT_ROS2SENSORS_TEST_SUPPORTED)
+    if(PAL_TRAIT_TEST_GOOGLE_TEST_SUPPORTED)
         # We support ${gem_name}.Tests on this platform, add dependency on the Private Object target
         ly_add_target(
             NAME ${gem_name}.Tests ${PAL_TRAIT_TEST_TARGET_TYPE}
@@ -249,7 +249,7 @@ if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
     # If we are a host platform we want to add tools test like editor tests here
     if(PAL_TRAIT_BUILD_HOST_TOOLS)
         # We are a host platform, see if Editor tests are supported on this platform
-        if(PAL_TRAIT_ROS2SENSORS_EDITOR_TEST_SUPPORTED)
+        if(PAL_TRAIT_TEST_GOOGLE_TEST_SUPPORTED)
             # We support ${gem_name}.Editor.Tests on this platform, add ${gem_name}.Editor.Tests target which depends on
             # private ${gem_name}.Editor.Private.Object target
             ly_add_target(
@@ -265,6 +265,9 @@ if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
                 BUILD_DEPENDENCIES
                     PRIVATE
                         AZ::AzTest
+                        AZ::AzTestShared
+                        AZ::AzToolsFramework
+                        AZ::AzManipulatorTestFramework.Static
                         Gem::${gem_name}.Editor.Private.Object
             )
 

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

@@ -0,0 +1,99 @@
+#include "AzCore/Component/Entity.h"
+#include "AzCore/RTTI/ReflectContext.h"
+#include "AzCore/Serialization/Json/BaseJsonSerializer.h"
+#include "AzCore/Serialization/Json/JsonSerialization.h"
+#include "AzCore/Serialization/SerializeContext.h"
+#include "Odometry/ROS2WheelOdometry.h"
+#include <AzCore/IO/Streamer/Streamer.h>
+#include <AzCore/IO/Streamer/StreamerComponent.h>
+#include <AzCore/Memory/Memory.h>
+#include <AzCore/Memory/SystemAllocator.h>
+#include <AzCore/UnitTest/TestTypes.h>
+#include <AzTest/AzTest.h>
+
+#include <AzCore/Serialization/Json/JsonSystemComponent.h>
+#include <AzCore/UserSettings/UserSettingsComponent.h>
+#include <AzTest/GemTestEnvironment.h>
+#include <AzToolsFramework/UnitTest/ToolsTestApplication.h>
+
+namespace UnitTest
+{
+    class ROS2SensorsTestEnvironment : public AZ::Test::GemTestEnvironment
+    {
+        // AZ::Test::GemTestEnvironment overrides ...
+        void AddGemsAndComponents() override;
+        AZ::ComponentApplication* CreateApplicationInstance() override;
+        void PostSystemEntityActivate() override;
+
+    public:
+        ROS2SensorsTestEnvironment() = default;
+        ~ROS2SensorsTestEnvironment() override = default;
+    };
+
+    void ROS2SensorsTestEnvironment::AddGemsAndComponents()
+    {
+        AddActiveGems(AZStd::to_array<AZStd::string_view>({ "ROS2", "ROS2Sensors"}));
+        AddDynamicModulePaths({ "ROS2" });
+        // AddComponentDescriptors(AZStd::initializer_list<AZ::ComponentDescriptor*>{ ROS2::ROS2WheelOdometryComponent::CreateDescriptor(),
+                                                                                //    AZ::JsonSystemComponent::CreateDescriptor() });
+        // AddRequiredComponents(AZStd::to_array<AZ::TypeId const>({ AZ::JsonSystemComponent::TYPEINFO_Uuid() }));
+    }
+
+    AZ::ComponentApplication* ROS2SensorsTestEnvironment::CreateApplicationInstance()
+    {
+        // Using ToolsTestApplication to have AzFramework and AzToolsFramework components.
+        return aznew UnitTest::ToolsTestApplication("ROS2SensorsTestEnvironment");
+    }
+
+    void ROS2SensorsTestEnvironment::PostSystemEntityActivate()
+    {
+        AZ::UserSettingsComponentRequestBus::Broadcast(&AZ::UserSettingsComponentRequests::DisableSaveOnFinalize);
+    }
+
+    class ROS2SensorsTestFixture : public ::testing::Test
+    {
+    };
+
+    // Smoke test
+    TEST_F(ROS2SensorsTestFixture, WheelOdometryComponent)
+    {
+        // Create a WheelOdometryComponent and check if it is created successfully
+        // ROS2::ROS2WheelOdometryComponent wheelOdometryComponent;
+        // EXPECT_NE(wheelOdometryComponent, nullptr);
+    }
+
+    // Store test
+    TEST_F(ROS2SensorsTestFixture, WheelOdometryComponentStore)
+    {
+        // // Create a WheelOdometryComponent and check if it is created successfully
+        // ROS2::ROS2WheelOdometryComponent wheelOdometryComponent;
+        // // EXPECT_NE(wheelOdometryComponent, nullptr);
+
+        // // Create a JSON object to store the component's configuration
+        // rapidjson::Document document;
+        // document.SetObject();
+
+        // AZ::Entity entity;
+        // // auto* wheelOdometryComponent
+
+        // auto jsonDocument = AZStd::make_unique<rapidjson::Document>();
+
+        // AZ::JsonDeserializerSettings settings;
+        // auto storeResult = AZ::JsonSerialization::Load(wheelOdometryComponent, *jsonDocument, settings);
+
+        // // Check if the store operation was successful
+        // EXPECT_EQ(storeResult.GetOutcome(), AZ::JsonSerializationResult::Outcomes::Success);
+    }
+} // namespace UnitTest
+
+// required to support running integration tests with Qt and PhysX
+AZTEST_EXPORT int AZ_UNIT_TEST_HOOK_NAME(int argc, char** argv)
+{
+    ::testing::InitGoogleMock(&argc, argv);
+    AZ::Test::printUnusedParametersWarning(argc, argv);
+    AZ::Test::addTestEnvironments({ new UnitTest::ROS2SensorsTestEnvironment() });
+    int result = RUN_ALL_TESTS();
+    return result;
+}
+
+IMPLEMENT_TEST_EXECUTABLE_MAIN();

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

@@ -8,4 +8,4 @@
 
 #include <AzTest/AzTest.h>
 
-AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV);
+// AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV);

Gems/ROS2Sensors/Code/ros2sensors_editor_tests_files.cmake

@@ -8,4 +8,5 @@
 
 set(FILES
     Tests/Tools/ROS2SensorsEditorTest.cpp
+    Tests/Odometry/ROS2WheelOdometrySerializationTest.cpp
 )