feat(planning_test_manager): subscription callback #563
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ralwing
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Pull Request Overview
This PR introduces a new overload for PlanningInterfaceTestManager::subscribeOutput that accepts a custom callback and adds a test verifying that subscription callbacks receive the expected messages.
- Added a templated
subscribeOutputoverload taking a user-provided callback - Retained the original
subscribeOutputbehavior via an internal call to the new overload - Added
CallbackSubscriptionTestto ensure messages are received and payloads match
Reviewed Changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| testing/autoware_planning_test_manager/include/autoware/planning_test_manager/autoware_planning_test_manager.hpp | Added generic callback-based subscribeOutput and refactored existing overload |
| testing/autoware_planning_test_manager/test/test_planning_test_manager.cpp | Added CallbackSubscriptionTest to verify the new subscription behavior |
Comments suppressed due to low confidence (1)
testing/autoware_planning_test_manager/include/autoware/planning_test_manager/autoware_planning_test_manager.hpp:81
- In a void function, you cannot return an expression; remove the
returnkeyword and simply callsubscribeOutput<OutputT>(...).
return subscribeOutput<OutputT>(
testing/autoware_planning_test_manager/test/test_planning_test_manager.cpp
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Signed-off-by: Grzegorz Głowacki <[email protected]>
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #563 +/- ##
==========================================
- Coverage 47.79% 47.44% -0.35%
==========================================
Files 313 313
Lines 20076 20086 +10
Branches 8733 8704 -29
==========================================
- Hits 9595 9530 -65
- Misses 9660 9742 +82
+ Partials 821 814 -7
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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Thank you for your contribution! Now I'm doing tests by using TIER IV internal scenario evaluator. |
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Sorry for being late, due to some my mistakes the tests are delayed. Let me do the tests again. Apologies for making you wait. |
sasakisasaki
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Jul 10, 2025
testing/autoware_planning_test_manager/test/test_planning_test_manager.cpp
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@sasakisasaki I've renamed the nodes. |
sasakisasaki
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Jul 22, 2025
| auto test_manager = | ||
| std::make_shared<autoware::planning_test_manager::PlanningInterfaceTestManager>(); | ||
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| auto test_target_node = std::make_shared<rclcpp::Node>("target_node_subscription_test"); |
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Suggested change
| auto test_target_node = std::make_shared<rclcpp::Node>("target_node_subscription_test"); | |
| auto test_target_node = std::make_shared<rclcpp::Node>("target_node_for_subscription_test"); |
| auto test_manager = | ||
| std::make_shared<autoware::planning_test_manager::PlanningInterfaceTestManager>(); | ||
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| auto test_target_node = std::make_shared<rclcpp::Node>("target_node_msg_validation_test"); |
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Suggested change
| auto test_target_node = std::make_shared<rclcpp::Node>("target_node_msg_validation_test"); | |
| auto test_target_node = std::make_shared<rclcpp::Node>("target_node_for_msg_validation_test"); |
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Description
This small change allow checking the value of the subscribed message
Modifications
Added new overload PlanningInterfaceTestManager::subscribeOutput
Effects on system behavior
None.