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OpenUxAS-SoI/tests/Test_Utilities/AutomationRequestTests/AutomationRequestTest.cpp
Colin AE. Taylor 68e5c0fe82 [Tests] AngledAreaSearchTask sends three more routePlanRequests. 
Three more routePlanRequests for checking 4 corners instead of 1.
2018-05-17 14:19:41 -04:00

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#include "gtest/gtest.h"
#include "GtestuxastestserviceServiceManagerStartAndRun.h"
#include "afrl/cmasi/AutomationResponse.h"
#include "afrl/cmasi/MissionCommand.h"
#include "afrl/cmasi/Waypoint.h"
// TEST(Parameter01,Parameter02) - Google Test Macro
// Parameter01: "test case" (name of collection of tests)
// Parameter02: "test" (name of test)
TEST(AutomationRequestTest, Test01_GoodRequest)
{
//**************************************************************************
// INITIALIZE TEST SETUP
//**************************************************************************
// duration_s - number of second to run UxAS
uint32_t duration_s{6};
// testPath - relative path to the directory containing configration and othe test files
std::string testPath;
// configFileName - file name of the UxAS configuration file
std::string configFileName;
#ifdef _WIN32
#include "windows.h"
SetCurrentDirectory("../../../");
#endif
testPath = "../tests/Test_Utilities/AutomationRequestTests/";
configFileName = "cfg_AutomationRequest_Test01.xml";
// uxasConfigurationFile - path and file name of the UxAS configuration file
std::string uxasConfigurationFile = testPath + configFileName;
// outputPath - path for saving output files
std::string outputPath = testPath + "output/";
// outputPath - path for saving log files
std::string logPath = outputPath + "log/";
// initialze the UxAS loggers
gtestuxascommonLogManagerInitialize(logPath);
// savedMessagesPath - the path and file name of the saved messages database are returned in this variable
std::string savedMessagesPath;
//**************************************************************************
// RUN THE TEST
//**************************************************************************
gtestuxastestserviceServiceManagerStartAndRun(duration_s,uxasConfigurationFile, outputPath, savedMessagesPath);
//*************************************************************************
// CHECK RESULTS
//*************************************************************************
// use GoogleTest macros to perform tests on the output
// CountMessagesInLogDb(savedMessagesPath,messageDescription) - queries the saved messages database
// and returns the number of messages with the given "description"
// - savedMessagesPath - the path and file name of the saved messages database
// - messageDescription - message description of messages to count
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.uxnative.StartupComplete")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AirVehicleConfiguration")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AirVehicleState")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AreaSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AutomationRequest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AutomationResponse")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.KeepOutZone")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.LineSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.OperatingRegion")));
EXPECT_EQ(4,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.ServiceStatus")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.AngledAreaSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.AreaOfInterest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.ImpactLineSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.LineOfInterest")));
EXPECT_EQ(25,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.route.RoutePlanRequest")));
EXPECT_EQ(26,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.route.RoutePlanResponse")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.AssignmentCostMatrix")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.SensorFootprintRequests")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskAssignmentSummary")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskImplementationRequest")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskImplementationResponse")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskInitialized")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskPlanOptions")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.UniqueAutomationRequest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.UniqueAutomationResponse")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.uxnative.CreateNewService")));
};
TEST(AutomationRequestTest, Test02_Missing_AirVehicleState)
{
//**************************************************************************
// INITIALIZE TEST SETUP
//**************************************************************************
// duration_s - number of second to run UxAS
uint32_t duration_s{4};
// testPath - relative path to the directory containing configration and othe test files
std::string testPath;
// configFileName - file name of the UxAS configuration file
std::string configFileName;
#ifdef _WIN32
#include "windows.h"
SetCurrentDirectory("../../../");
#endif
testPath = "../tests/Test_Utilities/AutomationRequestTests/";
configFileName = "cfg_AutomationRequest_Test02.xml";
// uxasConfigurationFile - path and file name of the UxAS configuration file
std::string uxasConfigurationFile = testPath + configFileName;
// outputPath - path for saving output files
std::string outputPath = testPath + "output/";
// outputPath - path for saving log files
std::string logPath = outputPath + "log/";
// initialze the UxAS loggers
gtestuxascommonLogManagerInitialize(logPath);
// savedMessagesPath - the path and file name of the saved messages database are returned in this variable
std::string savedMessagesPath;
//**************************************************************************
// RUN THE TEST
//**************************************************************************
bool isReinitialize{true};
gtestuxastestserviceServiceManagerStartAndRun(duration_s,uxasConfigurationFile, outputPath, savedMessagesPath,isReinitialize);
//*************************************************************************
// CHECK RESULTS
//*************************************************************************
// use GoogleTest macros to perform tests on the output
// CountMessagesInLogDb(savedMessagesPath,messageDescription) - queries the saved messages database
// and returns the number of messages with the given "description"
// - savedMessagesPath - the path and file name of the saved messages database
// - messageDescription - message description of messages to count
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.uxnative.StartupComplete")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AirVehicleConfiguration")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AirVehicleState")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AreaSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AutomationRequest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AutomationResponse")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.KeepOutZone")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.LineSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.OperatingRegion")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.ServiceStatus")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.AngledAreaSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.AreaOfInterest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.ImpactLineSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.LineOfInterest")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.route.RoutePlanRequest")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.route.RoutePlanResponse")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.AssignmentCostMatrix")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.SensorFootprintRequests")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskAssignmentSummary")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskImplementationRequest")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskImplementationResponse")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskInitialized")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskPlanOptions")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.UniqueAutomationRequest")));
EXPECT_EQ(0,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.UniqueAutomationResponse")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.uxnative.CreateNewService")));
};
TEST(AutomationRequestTest, Test03_TaskInsideKeepOutVisibility_WrongAnswer)
{
//**************************************************************************
// INITIALIZE TEST SETUP
//**************************************************************************
// duration_s - number of second to run UxAS
uint32_t duration_s{6};
// testPath - relative path to the directory containing configration and othe test files
std::string testPath;
//configFileName - file name of the UxAS configuration file
std::string configFileName;
#ifdef _WIN32
#include "windows.h"
SetCurrentDirectory("../../../");
#endif
testPath = "../tests/Test_Utilities/AutomationRequestTests/";
configFileName = "cfg_AutomationRequest_Test03.xml";
// uxasConfigurationFile - path and file name of the UxAS configuration file
std::string uxasConfigurationFile = testPath + configFileName;
// outputPath - path for saving output files
std::string outputPath = testPath + "output/";
// outputPath - path for saving log files
std::string logPath = outputPath + "log/";
// initialze the UxAS loggers
gtestuxascommonLogManagerInitialize(logPath);
// savedMessagesPath - the path and file name of the saved messages database are returned in this variable
std::string savedMessagesPath;
//**************************************************************************
// RUN THE TEST
//**************************************************************************
bool isReinitialize{true};
gtestuxastestserviceServiceManagerStartAndRun(duration_s,uxasConfigurationFile, outputPath, savedMessagesPath,isReinitialize);
//*************************************************************************
// CHECK RESULTS
//*************************************************************************
// use GoogleTest macros to perform tests on the output
// CountMessagesInLogDb(savedMessagesPath,messageDescription) - queries the saved messages database
// and returns the number of messages with the given "description"
// - savedMessagesPath - the path and file name of the saved messages database
// - messageDescription - message description of messages to count
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.uxnative.StartupComplete")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AirVehicleConfiguration")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AirVehicleState")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AreaSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AutomationRequest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.AutomationResponse")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.KeepOutZone")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.LineSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.OperatingRegion")));
EXPECT_EQ(5,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.cmasi.ServiceStatus")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.AngledAreaSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.AreaOfInterest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.ImpactLineSearchTask")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("afrl.impact.LineOfInterest")));
EXPECT_EQ(26,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.route.RoutePlanRequest")));
EXPECT_EQ(27,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.route.RoutePlanResponse")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.AssignmentCostMatrix")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.SensorFootprintRequests")));
EXPECT_EQ(2,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.SensorFootprintResponse")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskAssignmentSummary")));
EXPECT_EQ(6,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskImplementationRequest")));
EXPECT_EQ(6,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskImplementationResponse")));
EXPECT_EQ(6,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskInitialized")));
EXPECT_EQ(6,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.TaskPlanOptions")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.UniqueAutomationRequest")));
EXPECT_EQ(1,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.task.UniqueAutomationResponse")));
EXPECT_EQ(6,CountMessagesInLogDb(savedMessagesPath, std::string("uxas.messages.uxnative.CreateNewService")));
};
int main(int argc, char **argv)
{
// Build, Google Test run-time and environment tear-down
::testing::InitGoogleTest(&argc, argv);
// Run the tests and return the results
return RUN_ALL_TESTS();
}
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