15 #ifndef TRAFFIC_SIMULATOR__TEST__TRAFFIC_LIGHTS__COMMON_TEST_FIXTURES_HPP_
16 #define TRAFFIC_SIMULATOR__TEST__TRAFFIC_LIGHTS__COMMON_TEST_FIXTURES_HPP_
18 #include <gtest/gtest.h>
20 #include <ament_index_cpp/get_package_share_directory.hpp>
26 template <
typename TrafficLightsT, const
char * Architecture>
32 if constexpr (std::is_same_v<TrafficLightsT, traffic_simulator::ConventionalTrafficLights>) {
34 }
else if constexpr (std::is_same_v<TrafficLightsT, traffic_simulator::V2ITrafficLights>) {
40 std::is_same_v<TrafficLightsT, traffic_simulator::ConventionalTrafficLights> or
41 std::is_same_v<TrafficLightsT, traffic_simulator::V2ITrafficLights>,
42 "Given TrafficLights type is not supported");
45 const lanelet::Id
id{34836};
49 const rclcpp::Node::SharedPtr
node_ptr = rclcpp::Node::make_shared(
"TrafficLightsInternalTest");
51 const std::string path = ament_index_cpp::get_package_share_directory(
"traffic_simulator") +
52 "/map/standard_map/lanelet2_map.osm";
55 std::make_shared<hdmap_utils::HdMapUtils>(
56 path, geographic_msgs::build<geographic_msgs::msg::GeoPoint>()
57 .latitude(35.61836750154)
58 .longitude(139.78066608243)
61 std::unique_ptr<TrafficLightsT>
lights;
64 template <
typename TrafficLightsT>
70 template <
typename TrafficLightsT>
78 template <
typename TrafficLightsT>
81 if constexpr (std::is_same_v<TrafficLightsT, traffic_simulator::ConventionalTrafficLights>) {
82 return "ConventionalTrafficLights";
83 }
else if constexpr (std::is_same_v<TrafficLightsT, traffic_simulator::V2ITrafficLights>) {
84 return "V2ITrafficLights";
Definition: common_test_fixtures.hpp:28
const std::shared_ptr< hdmap_utils::HdMapUtils > hdmap_utils_ptr
Definition: common_test_fixtures.hpp:54
const std::string path
Definition: common_test_fixtures.hpp:51
const rclcpp::Node::SharedPtr node_ptr
Definition: common_test_fixtures.hpp:49
std::unique_ptr< TrafficLightsT > lights
Definition: common_test_fixtures.hpp:61
const lanelet::Id signal_id
Definition: common_test_fixtures.hpp:47
TrafficLightsInternalTestArchitectureDependent()
Definition: common_test_fixtures.hpp:30
Definition: common_test_fixtures.hpp:73
Definition: common_test_fixtures.hpp:67
constexpr char architecture_old[]
Definition: common_test_fixtures.hpp:23
constexpr char architecture_new[]
Definition: common_test_fixtures.hpp:24
std::string string
Definition: junit5.hpp:26
Definition: common_test_fixtures.hpp:77
static auto GetName(int) -> std::string
Definition: common_test_fixtures.hpp:79