xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
125 lines
3.1 KiB
C++
125 lines
3.1 KiB
C++
#include "manager/device_manager/include/device_manager.h"
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#include <stdexcept>
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#include <gtest/gtest.h>
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namespace {
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class LifecycleDevice final : public cmvr::device::AbstractDevice {
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public:
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explicit LifecycleDevice(const std::string& id)
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: AbstractDevice(id)
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{
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}
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cmvr::device::DeviceKind kind() const noexcept override
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{
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return cmvr::device::DeviceKind::Camera;
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}
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std::string typeName() const override { return "LifecycleDevice"; }
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bool start() override
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{
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++start_calls;
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if (throw_on_start) {
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throw std::runtime_error("start failure");
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}
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return start_result;
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}
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bool stop() override
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{
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++stop_calls;
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return true;
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}
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bool start_result{true};
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bool throw_on_start{false};
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int start_calls{0};
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int stop_calls{0};
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};
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class DeviceManagerLifecycleTest : public ::testing::Test {
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protected:
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void SetUp() override
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{
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cmvr::device::DeviceManager::destroyInstance();
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}
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void TearDown() override
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{
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cmvr::device::DeviceManager::destroyInstance();
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}
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};
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TEST_F(DeviceManagerLifecycleTest,
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EnabledDeviceCreationFailureMarksInitializationFailed)
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{
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cmvr::config::DeviceManagerConfig config;
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auto* entry = config.add_devices();
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entry->set_id("unsupported");
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entry->set_type(
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cmvr::config::DeviceConfigEntry::DEVICE_TYPE_UNKNOWN);
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entry->set_enable(true);
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auto& manager =
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cmvr::device::DeviceManager::getInstance(config);
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EXPECT_FALSE(manager.initialized());
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EXPECT_FALSE(manager.start());
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}
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TEST_F(DeviceManagerLifecycleTest, DisabledInvalidDeviceIsIgnored)
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{
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cmvr::config::DeviceManagerConfig config;
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auto* entry = config.add_devices();
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entry->set_id("disabled");
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entry->set_type(
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cmvr::config::DeviceConfigEntry::DEVICE_TYPE_UNKNOWN);
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entry->set_enable(false);
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auto& manager =
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cmvr::device::DeviceManager::getInstance(config);
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EXPECT_TRUE(manager.initialized());
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EXPECT_TRUE(manager.start());
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}
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TEST_F(DeviceManagerLifecycleTest,
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DeviceStartFailureIsReturnedAndTriggersStop)
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{
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cmvr::config::DeviceManagerConfig config;
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auto& manager =
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cmvr::device::DeviceManager::getInstance(config);
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ASSERT_TRUE(manager.initialized());
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auto device =
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std::make_shared<LifecycleDevice>("start_failure");
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device->start_result = false;
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manager.registerDevice(device);
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EXPECT_FALSE(manager.start());
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EXPECT_EQ(device->start_calls, 1);
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EXPECT_EQ(device->stop_calls, 1);
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}
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TEST_F(DeviceManagerLifecycleTest,
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DeviceStartExceptionIsReturnedAndTriggersStop)
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{
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cmvr::config::DeviceManagerConfig config;
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auto& manager =
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cmvr::device::DeviceManager::getInstance(config);
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ASSERT_TRUE(manager.initialized());
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auto device =
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std::make_shared<LifecycleDevice>("start_exception");
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device->throw_on_start = true;
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manager.registerDevice(device);
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EXPECT_FALSE(manager.start());
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EXPECT_EQ(device->start_calls, 1);
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EXPECT_EQ(device->stop_calls, 1);
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}
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} // namespace
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