opennav_coverage - fix tests for fields2cover v2

* fields2cover now initialises memory and provides getters/setters
so previous incorrectly/partially initialised data no longer throws

* Order of args for f2c::Random::generateRandField() changed to
  (area, sides), was (sides, area).  Tests now don't spin forever

Signed-off-by: Mike Wake <[email protected]>

Author: aosmw

opennav_coverage/test/test_headland.cpp

@@ -80,7 +80,9 @@ TEST(HeadlandTests, TestheadlandGeneration)
 
   // Generate some toy field
   f2c::Random rand;
-  auto field = rand.generateRandField(5, 1e5);
+  double area = 1e5;
+  int sides = 5;
+  auto field = rand.generateRandField(area, sides);
 
   // Shouldn't throw, results in valid output
   opennav_coverage_msgs::msg::HeadlandMode settings;

opennav_coverage/test/test_path.cpp

@@ -114,7 +114,9 @@ TEST(PathTests, TestpathGeneration)
 
   // Generate some toy route
   f2c::Random rand;
-  auto field = rand.generateRandField(5, 1e5);
+  double area = 1e5;
+  int sides = 5;
+  auto field = rand.generateRandField(area, sides);
   opennav_coverage_msgs::msg::SwathMode sw_settings;
   auto swaths = swath_gen.generateSwaths(field.getField().getGeometry(0), sw_settings);
   opennav_coverage_msgs::msg::RouteMode rt_settings;

opennav_coverage/test/test_route.cpp

@@ -99,7 +99,9 @@ TEST(RouteTests, TestrouteGeneration)
 
   // Generate some toy field
   f2c::Random rand;
-  auto field = rand.generateRandField(5, 1e5);
+  double area = 1e5;
+  int sides = 5;
+  auto field = rand.generateRandField(area, sides);
   auto swaths = swath_gen.generateSwaths(field.getField().getGeometry(0), sw_settings);
 
   // Shouldn't throw, results in valid output

opennav_coverage/test/test_swath.cpp

@@ -108,7 +108,9 @@ TEST(SwathTests, TestswathGeneration)
 
   // Generate some toy field
   f2c::Random rand;
-  auto field = rand.generateRandField(5, 1e5);
+  double area = 1e5;
+  int sides = 5;
+  auto field = rand.generateRandField(area, sides);
 
   // Shouldn't throw, results in valid output
   opennav_coverage_msgs::msg::SwathMode settings;

opennav_coverage/test/test_utils.cpp

@@ -106,11 +106,14 @@ TEST(UtilsTests, TesttoNavPathMsg)
   header_in.frame_id = "test";
   Path path_in;
   path_in.getStates().resize(10);
+  EXPECT_EQ(path_in.size(), 10u);
   F2CField field;
 
   auto msg = util::toNavPathMsg(path_in, field, header_in, true, 0.1);
   EXPECT_EQ(msg.header.frame_id, "test");
-  EXPECT_EQ(msg.poses.size(), 10u);
+
+  // Path goes nowhere so compressed into a dense path
+  EXPECT_EQ(msg.poses.size(), 1u);
 }
 
 TEST(UtilsTests, TesttoCoveragePathMsg2)
@@ -126,9 +129,10 @@ TEST(UtilsTests, TesttoCoveragePathMsg2)
   EXPECT_EQ(msg.contains_turns, true);
   EXPECT_EQ(msg.swaths_ordered, true);
 
-  // states are not valid (e.g. non-marked as turn or swath)
+  // states are initalised as a valid swath
   path_in.getStates().resize(10);
-  EXPECT_THROW(util::toCoveragePathMsg(path_in, field, header_in, true), std::runtime_error);
+  msg = util::toCoveragePathMsg(path_in, field, header_in, true);
+  util::toCoveragePathMsg(path_in, field, header_in, true);
 
   // Now lets make it valid
   using f2c::types::PathSectionType;

opennav_row_coverage/test/test_server.cpp

@@ -132,7 +132,7 @@ TEST(ServerTest, testDynamicParams)
     node->get_node_services_interface());
 
   auto results = rec_param->set_parameters_atomically(
-    {rclcpp::Parameter("default_turn_point_distance", 0.25),
+    {rclcpp::Parameter("default_turn_point_distance", 0.25),  // Discretization ??
       rclcpp::Parameter("robot_width", 1.0),
       rclcpp::Parameter("operation_width", 1.12),
       rclcpp::Parameter("default_path_type", std::string("hi")),