add support multiple parameter files

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
autowarefoundation · Apr 1, 2022 · ae9ce31 · ae9ce31
1 parent 5764962
commit ae9ce31
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Showing 3 changed files with 25 additions and 18 deletions.
diff --git a/common/autoware_testing/autoware_testing/smoke_test.py b/common/autoware_testing/autoware_testing/smoke_test.py
@@ -32,18 +32,19 @@
 
 
 def resolve_node(context, *args, **kwargs):
+    parameters = [
+        os.path.join(
+            get_package_share_directory(LaunchConfiguration('arg_package').perform(context)),
+            "param",
+            file_name
+        ) for file_name in shlex.split(LaunchConfiguration('arg_param_filenames').perform(context))
+    ]
 
     smoke_test_node = Node(
         package=LaunchConfiguration('arg_package'),
         executable=LaunchConfiguration('arg_package_exe'),
         namespace='test',
-        parameters=[
-            os.path.join(
-                get_package_share_directory(LaunchConfiguration('arg_package').perform(context)),
-                "param",
-                LaunchConfiguration('arg_param_filename').perform(context)
-            )
-        ],
+        parameters=parameters,
         arguments=shlex.split(LaunchConfiguration('arg_executable_arguments').perform(context))
     )
     return [smoke_test_node]
@@ -62,8 +63,8 @@ def generate_test_description():
         default_value=['default'],
         description='Tested executable'
     )
-    arg_param_filename = DeclareLaunchArgument(
-        'arg_param_filename',
+    arg_param_filenames = DeclareLaunchArgument(
+        'arg_param_filenames',
         default_value=['test.param.yaml'],
         description='Test param file'
     )
@@ -76,7 +77,7 @@ def generate_test_description():
     return LaunchDescription([
         arg_package,
         arg_package_exe,
-        arg_param_filename,
+        arg_param_filenames,
         arg_executable_arguments,
         OpaqueFunction(function=resolve_node),
         launch_testing.actions.ReadyToTest()]

diff --git a/common/autoware_testing/cmake/add_smoke_test.cmake b/common/autoware_testing/cmake/add_smoke_test.cmake
@@ -19,18 +19,18 @@
 # :type package_name: string
 # :param package_exec: package executable to run during smoke test
 # :type executable_name: string
-# :param PARAM_FILENAME: yaml filename containing test parameters
-# :type PARAM_FILENAME: string
+# :param PARAM_FILENAMES: yaml filenames containing test parameters
+# :type PARAM_FILENAMES: string
 # :param EXECUTABLE_ARGUMENTS: arguments passed to tested executable
 # :type EXECUTABLE_ARGUMENTS: string
 
 function(add_smoke_test package_name executable_name)
-  cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAME;EXECUTABLE_ARGUMENTS" "")
+  cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;EXECUTABLE_ARGUMENTS" "")
 
   set(ARGUMENTS "arg_package:=${package_name}" "arg_package_exe:=${executable_name}")
 
-  if(smoke_test_PARAM_FILENAME)
-    list(APPEND ARGUMENTS "arg_param_filename:=${smoke_test_PARAM_FILENAME}")
+  if(smoke_test_PARAM_FILENAMES)
+    list(APPEND ARGUMENTS "arg_param_filenames:=${smoke_test_PARAM_FILENAMES}")
   endif()
 
   if(smoke_test_EXECUTABLE_ARGUMENTS)

diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt
@@ -79,9 +79,15 @@ if(BUILD_TESTING)
   target_link_libraries(${TRAJECTORY_FOLLOWER_NODES_TEST} ${LATLON_MUXER_NODE} ${LATERAL_CONTROLLER_NODE} ${LONGITUDINAL_CONTROLLER_NODE})
 
   find_package(autoware_testing REQUIRED)
-  add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe PARAM_FILENAME latlon_muxer_defaults.yaml)
-  add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe PARAM_FILENAME lateral_controller_defaults.yaml)
-  add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe PARAM_FILENAME longitudinal_controller_defaults.yaml)
+  add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe
+    PARAM_FILENAMES "latlon_muxer_defaults.yaml"
+  )
+  add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe
+    PARAM_FILENAMES "lateral_controller_defaults.yaml test_vehicle_info.yaml"
+  )
+  add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe
+    PARAM_FILENAMES "longitudinal_controller_defaults.yaml test_vehicle_info.yaml"
+  )
 endif()
 
 ament_auto_package(