feat: app required for any maker/model platform AM-686/platform-req

Author: Aaron Roller

CMakeLists.txt

@@ -224,6 +224,7 @@ if (CATKIN_ENABLE_TESTING)
                  hz_config
                  manual_to_disarming 
                  param
+                 platform_app_required_pass
                  platform_required_fail
                  platform_required_pass
                  primary

rostest/platform_app_required_pass/platform_app_required_pass_rostest.cpp

@@ -0,0 +1,38 @@
+#include <am_rostest_lib/am_rostest.h>
+
+class PlatformRequiredPassTest : public RostestBase, am::AMLifeCycle
+{
+protected:
+
+  PlatformRequiredPassTest() : RostestBase() {
+  }
+
+};
+
+TEST_F(PlatformRequiredPassTest, requiredPlatformInLaunchFile)
+{
+  std::string missing = "missing";
+  
+  std::string platform_required_param;
+  ros::param::param<string>("/am_super/platform/required", platform_required_param, missing);
+  ASSERT_EQ(platform_required_param,missing);
+
+  std::string platform_app_required_param;
+  ros::param::param<string>("/am_super/platform/app/required", platform_app_required_param, missing);
+  ASSERT_EQ(platform_app_required_param,"test");
+  
+  std::string platform_actual_param;
+  ros::param::param<string>("/am_super/platform/actual", platform_actual_param, missing);
+  ASSERT_EQ(platform_actual_param,"maker_model_test");
+  waitUntil(LifeCycleState::CONFIGURING,"XXSS");
+  waitUntil(LifeCycleState::INACTIVE,"SSXX");
+  waitUntilMissionState(brain_box_msgs::VxState::READY,"XSXS");
+}
+
+int main(int argc, char** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, ros::this_node::getName());
+
+  return RUN_ALL_TESTS();
+}

rostest/platform_app_required_pass/platform_app_required_pass_rostest.test

@@ -0,0 +1,9 @@
+<launch>
+  <!-- include test file and pass in this test node name -->
+  <include file="$(find am_super)/rostest/am_super_rostest.test">
+    <arg name="test_name" value="platform_app_required_pass"/>
+  </include>
+  <!-- only the app matters, the maker/model does not -->
+  <rosparam param="/am_super/platform/app/required">test</rosparam>
+  <rosparam param="/am_super/platform/actual">maker_model_test</rosparam>
+</launch>

src/am_super/am_super.cpp

@@ -651,14 +651,20 @@ class AMSuper : AMLifeCycle
       error("NNS9",true);
       return;
     }
+    node_mediator_.platformConfigToVariant(actual_platform_param,actual_platform);
 
     //compare actual platform to required platform, if provided
     std::string required_platform_param;
+    std::string platform_app_required_param;
     param("platform/required",required_platform_param,not_provided);
+    param("platform/app/required",platform_app_required_param,not_provided);
     if(required_platform_param != not_provided)
     {
       node_mediator_.platformConfigToVariant(required_platform_param,required_platform);
-      node_mediator_.platformConfigToVariant(actual_platform_param,actual_platform);
+    }
+    else if(platform_app_required_param != not_provided)
+    {
+      required_platform.app = platform_app_required_param;
     }
     else
     {

src/am_super/super_node_mediator.cpp

@@ -373,6 +373,11 @@ std::string SuperNodeMediator::platformVariantToConfig(const SuperNodeMediator::
       }
     }
   }
+  else if(!variant.app.empty())
+  {
+    std::string any = "*";
+    config << any << dilimeter << any << dilimeter << variant.app;
+  }
   return config.str();
 }
 

test/super_node_mediator_unit_tests.cpp

@@ -604,6 +604,13 @@ TEST_F(SuperNodeMediatorTest, platformVariantToConfig_makerModelApp)
   ASSERT_EQ(superNodeMediator.platformVariantToConfig(variant),"dji_m300_bridge");
 }
 
+TEST_F(SuperNodeMediatorTest, platformVariantToConfig_appOnlyShowsWildcard)
+{
+  SuperNodeMediator::PlatformVariant variant;
+  variant.app="bridge";
+  ASSERT_EQ(superNodeMediator.platformVariantToConfig(variant),"*_*_bridge");
+}
+
 
 TEST_F(SuperNodeMediatorTest, isCorrectPlatform_sameConfigIsTrue)
 {