Fixed utils test, fixed joy

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Nov 8, 2024 · 3bd5e30 · 3bd5e30
1 parent 4189b20
commit 3bd5e30
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Showing 3 changed files with 16 additions and 10 deletions.
diff --git a/panther_manager/src/plugins/condition/check_joy_msg.cpp b/panther_manager/src/plugins/condition/check_joy_msg.cpp
@@ -35,7 +35,7 @@ bool CheckJoyMsg::checkAxes(const JoyMsg::SharedPtr & last_msg)
     return true;
   }
 
-  if (last_msg->axes.size() != expected_axes.size()) {
+  if (last_msg->axes.size() < expected_axes.size()) {
     RCLCPP_WARN_STREAM(
       this->logger(), GetLoggerPrefix(name())
                         << "Joy message has " << last_msg->axes.size()
@@ -57,11 +57,11 @@ bool CheckJoyMsg::checkButtons(const JoyMsg::SharedPtr & last_msg)
     return true;
   }
 
-  if (last_msg->buttons.size() != expected_buttons.size()) {
+  if (last_msg->buttons.size() < expected_buttons.size()) {
     RCLCPP_WARN_STREAM(
       this->logger(), GetLoggerPrefix(name())
                         << "Joy message has " << last_msg->buttons.size()
-                        << " axes, expected at least " << expected_buttons.size());
+                        << " buttons, expected at least " << expected_buttons.size());
     return false;
   }
 

diff --git a/panther_manager/test/plugins/condition/test_check_joy_msg.cpp b/panther_manager/test/plugins/condition/test_check_joy_msg.cpp
@@ -135,9 +135,21 @@ TEST_F(TestCheckJoyMsg, OnTickBehavior)
     {BT::NodeStatus::SUCCESS,
      {{"topic_name", TOPIC}, {"axes", "0.1;-0.2;1.0"}, {"buttons", ""}, {"timeout", "1.0"}},
      CreateMsg({0.1, -0.2, 1.0}, {0, 0, 10, 0})},
+    {BT::NodeStatus::SUCCESS,
+     {{"topic_name", TOPIC}, {"axes", "0;0"}, {"buttons", "0;0"}, {"timeout", "1.0"}},
+     CreateMsg({0, 0, 0}, {0, 0})},
+    {BT::NodeStatus::SUCCESS,
+     {{"topic_name", TOPIC}, {"axes", "0;0"}, {"buttons", "0;0"}, {"timeout", "1.0"}},
+     CreateMsg({0, 0}, {0, 0, 0})},
+    {BT::NodeStatus::SUCCESS,
+     {{"topic_name", TOPIC}, {"axes", "0.1;-0.2;1.0"}, {"buttons", ""}, {"timeout", "1.0"}},
+     CreateMsg({0.1, -0.2, 1.0, 0.0, 0.0}, {0, 0, 10, 0})},
     {BT::NodeStatus::SUCCESS,
      {{"topic_name", TOPIC}, {"axes", ""}, {"buttons", "0;0;10;0"}, {"timeout", "1.0"}},
      CreateMsg({0.1, -0.2, 1.0}, {0, 0, 10, 0})},
+    {BT::NodeStatus::SUCCESS,
+     {{"topic_name", TOPIC}, {"axes", ""}, {"buttons", "0;0;10;0"}, {"timeout", "1.0"}},
+     CreateMsg({0.1, -0.2, 1.0}, {0, 0, 10, 0, 0, 0})},
     {BT::NodeStatus::FAILURE,
      {{"topic_name", TOPIC}, {"axes", "0.1;-0.2;1.0"}, {"buttons", "0;0;10;0"}, {"timeout", "1.0"}},
      CreateMsg({0.2, -0.2, 1.0}, {0, 0, 10, 0})},
@@ -147,12 +159,6 @@ TEST_F(TestCheckJoyMsg, OnTickBehavior)
     {BT::NodeStatus::FAILURE,
      {{"topic_name", TOPIC}, {"axes", "0;0"}, {"buttons", "0;0;0"}, {"timeout", "1.0"}},
      CreateMsg({0, 0}, {0, 0})},
-    {BT::NodeStatus::FAILURE,
-     {{"topic_name", TOPIC}, {"axes", "0;0"}, {"buttons", "0;0"}, {"timeout", "1.0"}},
-     CreateMsg({0, 0, 0}, {0, 0})},
-    {BT::NodeStatus::FAILURE,
-     {{"topic_name", TOPIC}, {"axes", "0;0"}, {"buttons", "0;0"}, {"timeout", "1.0"}},
-     CreateMsg({0, 0}, {0, 0, 0})},
     {BT::NodeStatus::FAILURE,
      {{"topic_name", TOPIC}, {"axes", "0;0"}, {"buttons", "0;0"}, {"timeout", "1.0"}},
      CreateMsg({0, 1}, {0, 0})},

diff --git a/panther_manager/test/test_behavior_tree_utils.cpp b/panther_manager/test/test_behavior_tree_utils.cpp
@@ -175,7 +175,7 @@ TEST(TestConvertFromStringVectorOfDouble, GoodInput)
 TEST(TestConvertFromStringVectorOfFloat, WrongInput)
 {
   auto str = "1;2;3;0.1;a;0.2";
-  EXPECT_THROW(BT::convertFromString<std::vector<float>>(str), BT::RuntimeError);
+  EXPECT_THROW(BT::convertFromString<std::vector<float>>(str);, std::invalid_argument);
 }
 
 int main(int argc, char ** argv)