test: Update Database tests, create IMUDatabaseWriter tests

src/g2_2025_imu_reader_pkg/CMakeLists.txt

@@ -60,39 +60,40 @@ if(BUILD_TESTING)
     tomlplusplus::tomlplusplus
   )
 
+  # Add gtest for IMUDatabaseWriter node
+  ament_add_gtest(${PROJECT_NAME}_test_imu_database_writer
+    test/IMUDatabaseWriter.test.cpp
+    src/imu_database_writer/nodes/IMUDatabaseWriter.cpp
+    src/database/DatabaseManager.cpp
+    src/config/ConfigManager.cpp
+  )
+  target_include_directories(${PROJECT_NAME}_test_imu_database_writer PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/imu_database_writer
+  )
+  ament_target_dependencies(${PROJECT_NAME}_test_imu_database_writer
+    rclcpp
+    sensor_msgs
+  )
+  target_link_libraries(${PROJECT_NAME}_test_imu_database_writer
+    pqxx pq tomlplusplus::tomlplusplus
+  )
+
   # Add gtest for DatabaseManager
-#   ament_add_gtest(${PROJECT_NAME}_test_database_manager
-#     test/DatabaseManager.test.cpp
-#     src/database/DatabaseManager.cpp
-#     src/config/ConfigManager.cpp
-#   )
-#   target_include_directories(${PROJECT_NAME}_test_database_manager PRIVATE
-#     ${CMAKE_CURRENT_SOURCE_DIR}/src
-#   )
-#   ament_target_dependencies(${PROJECT_NAME}_test_database_manager
-#     rclcpp
-#   )
-#   target_link_libraries(${PROJECT_NAME}_test_database_manager
-#     pqxx pq tomlplusplus::tomlplusplus
-#   )
-  #
-  # # Add gtest for ExamResultGenerator
-  # ament_add_gtest(${PROJECT_NAME}_test_exam_result_generator
-  #   test/ExamResultGenerator.test.cpp
-  #   src/exam_result_generator/nodes/ExamResultGenerator.cpp
-  #   src/database/DatabaseManager.cpp
-  #   src/config/ConfigManager.cpp
-  # )
-  # target_include_directories(${PROJECT_NAME}_test_exam_result_generator PRIVATE
-  #   ${CMAKE_CURRENT_SOURCE_DIR}/src
-  #   ${CMAKE_CURRENT_SOURCE_DIR}/src/exam_result_generator
-  # )
-  # ament_target_dependencies(${PROJECT_NAME}_test_exam_result_generator
-  #   rclcpp
-  # )
-  # target_link_libraries(${PROJECT_NAME}_test_exam_result_generator
-  #   pqxx pq tomlplusplus::tomlplusplus
-  # )
+  ament_add_gtest(${PROJECT_NAME}_test_database_manager
+    test/DatabaseManager.test.cpp
+    src/database/DatabaseManager.cpp
+    src/config/ConfigManager.cpp
+  )
+  target_include_directories(${PROJECT_NAME}_test_database_manager PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+  )
+  ament_target_dependencies(${PROJECT_NAME}_test_database_manager
+    rclcpp
+  )
+  target_link_libraries(${PROJECT_NAME}_test_database_manager
+    pqxx pq tomlplusplus::tomlplusplus
+  )
 
   # Add Python integration tests
   #   find_package(ament_cmake_pytest REQUIRED)

src/g2_2025_imu_reader_pkg/test/DatabaseManager.test.cpp

@@ -2,7 +2,6 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include "database/DatabaseManager.hpp"
-#include "database/StudentCourse.hpp"
 
 using namespace assignments::two;
 
@@ -31,49 +30,18 @@ TEST_F(DatabaseManagerTest, ConstructorTest) {
 }
 
 TEST_F(DatabaseManagerTest, ConnectionStatusTest) {
+    // Should return a boolean (connected or not) — here no DB configured so expect false
     bool status = db_manager_->is_connected();
-
     EXPECT_TRUE(status == true || status == false);
 }
 
-TEST_F(DatabaseManagerTest, QueuePendingCombinationsTest) {
-    auto combinations = db_manager_->queue_pending_combinations();
-
-    EXPECT_GE(combinations.size(), 0);
+TEST_F(DatabaseManagerTest, StoreIMUDataWhenNotConnected) {
+    // Without a real DB connection, storing IMU data should return false
+    bool result = db_manager_->store_imu_data(1.0, 2.0, 3.0, 0.1, 0.2, 0.3);
+    EXPECT_FALSE(result);
 }
 
-TEST_F(DatabaseManagerTest, StoreExamResultTest) {
-    bool result = db_manager_->store_exam_result("TestStudent", "TestCourse", 85);
-
-    EXPECT_TRUE(result == true || result == false);
-}
-
-TEST_F(DatabaseManagerTest, EnrollStudentTest) {
-    StudentCourse sc;
-    sc.student_name = "TestStudent";
-    sc.course_name = "TestCourse";
-
-    bool result = db_manager_->enroll_student_into_course(sc);
-
-    EXPECT_TRUE(result == true || result == false);
-}
-
-TEST_F(DatabaseManagerTest, GetFinalGradeTest) {
-    StudentCourse sc;
-    sc.student_name = "NonExistentStudent";
-    sc.course_name = "NonExistentCourse";
-
-    int grade = db_manager_->get_final_course_grade(sc);
-
-    EXPECT_EQ(grade, -1);
-}
-
-TEST_F(DatabaseManagerTest, StoreFinalResultTest) {
-    StudentCourse sc;
-    sc.student_name = "TestStudent";
-    sc.course_name = "TestCourse";
-
-    bool result = db_manager_->store_final_course_result(sc, 3, 75, false);
-
-    EXPECT_TRUE(result == true || result == false);
+TEST_F(DatabaseManagerTest, CreateTablesNoCrash) {
+    // create_tables should be safe to call even when not connected (no throw)
+    EXPECT_NO_THROW(db_manager_->create_tables());
 }

src/g2_2025_imu_reader_pkg/test/IMUDatabaseWriter.test.cpp

@@ -0,0 +1,104 @@
+#include <chrono>
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <gtest/gtest.h>
+
+#include "imu_database_writer/nodes/IMUDatabaseWriter.hpp"
+#include "database/DatabaseManager.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+
+using namespace std::chrono_literals;
+using namespace assignments::two::imu_database_writer;
+
+namespace assignments::two {
+
+class MockDatabaseManager : public DatabaseManager {
+public:
+    explicit MockDatabaseManager(rclcpp::Logger logger = rclcpp::get_logger("mock_db"))
+    : DatabaseManager(logger) {
+    }
+
+    // Match the current DatabaseManager::store_imu_data signature (no timestamp)
+    bool store_imu_data(
+        double linear_accel_x, double linear_accel_y, double linear_accel_z,
+        double angular_vel_x, double angular_vel_y, double angular_vel_z
+    ) override {
+        called_ = true;
+        last_la_x_ = linear_accel_x;
+        last_la_y_ = linear_accel_y;
+        last_la_z_ = linear_accel_z;
+        last_av_x_ = angular_vel_x;
+        last_av_y_ = angular_vel_y;
+        last_av_z_ = angular_vel_z;
+        return true;
+    }
+
+    bool called_ = false;
+    double last_la_x_ = 0.0, last_la_y_ = 0.0, last_la_z_ = 0.0;
+    double last_av_x_ = 0.0, last_av_y_ = 0.0, last_av_z_ = 0.0;
+};
+
+} // namespace assignments::two
+
+class IMUDatabaseWriterTest : public ::testing::Test {
+protected:
+    void SetUp() override {
+        rclcpp::init(0, nullptr);
+        test_node_ = std::make_shared<rclcpp::Node>("test_node");
+
+        // create mock db and inject
+        mock_db_ = std::make_unique<assignments::two::MockDatabaseManager>(rclcpp::get_logger("test_mock_db"));
+        mock_db_ptr_ = mock_db_.get();
+
+        imu_node_ = std::make_shared<IMUDatabaseWriter>(std::move(mock_db_));
+
+        // publisher in test node
+        imu_publisher_ = test_node_->create_publisher<sensor_msgs::msg::Imu>("imu_data", 10);
+    }
+
+    void TearDown() override {
+        imu_node_.reset();
+        test_node_.reset();
+        rclcpp::shutdown();
+    }
+
+    void spin_some_time(std::chrono::milliseconds duration = 200ms) {
+        auto start = std::chrono::steady_clock::now();
+        while (std::chrono::steady_clock::now() - start < duration) {
+            rclcpp::spin_some(test_node_);
+            if (imu_node_) rclcpp::spin_some(imu_node_);
+            std::this_thread::sleep_for(10ms);
+        }
+    }
+
+    std::shared_ptr<rclcpp::Node> test_node_;
+    std::shared_ptr<IMUDatabaseWriter> imu_node_;
+    std::unique_ptr<assignments::two::MockDatabaseManager> mock_db_;
+    assignments::two::MockDatabaseManager* mock_db_ptr_ = nullptr;
+    rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher_;
+};
+
+TEST_F(IMUDatabaseWriterTest, ConstructorTest) {
+    ASSERT_NE(imu_node_, nullptr);
+}
+
+TEST_F(IMUDatabaseWriterTest, ReceivesAndForwardsIMU) {
+    auto msg = sensor_msgs::msg::Imu();
+    msg.linear_acceleration.x = 1.23;
+    msg.linear_acceleration.y = -0.5;
+    msg.linear_acceleration.z = 0.0;
+    msg.angular_velocity.x = 0.01;
+    msg.angular_velocity.y = -0.02;
+    msg.angular_velocity.z = 0.03;
+
+    imu_publisher_->publish(msg);
+
+    spin_some_time(300ms);
+
+    EXPECT_TRUE(mock_db_ptr_->called_);
+}
+
+int main(int argc, char **argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

src/g2_2025_imu_reader_pkg/test/mocks/MockDatabaseManager.hpp

@@ -5,7 +5,6 @@
 namespace assignments::two {
 
 struct MockStoredResult {
-    StudentCourse sc;
     int exam_count;
     int final_grade;
     bool is_retake;
@@ -28,45 +27,13 @@ public:
         connection_status_ = status;
     }
 
-    std::vector<StudentCourse> get_failed_course_results() {
-        return failed_students_;
-    }
-
-    bool store_final_course_result(
-        const StudentCourse& sc,
-        int exam_count,
-        int final_grade,
-        bool is_retake
-    ) {
-        stored_results.push_back({ sc, exam_count, final_grade, is_retake });
-        return true;
-    }
-
-    bool update_retake_status(const StudentCourse& sc) {
-        retake_status_updates.push_back(sc);
-        return true;
-    }
-
     void clear_failed_students() {
         failed_students_.clear();
     }
 
-    void add_failed_student(const std::string& student_name, const std::string& course_name) {
-        StudentCourse sc;
-        sc.student_name = student_name;
-        sc.course_name = course_name;
-        failed_students_.push_back(sc);
-    }
-
-    void set_failed_students(const std::vector<StudentCourse>& failed_students) {
-        failed_students_ = failed_students;
-    }
-
     std::vector<MockStoredResult> stored_results;
-    std::vector<StudentCourse> retake_status_updates;
 
 private:
-    std::vector<StudentCourse> failed_students_;
     bool connection_status_ = true;
 };
 

src/g2_2025_imu_reader_pkg/test/mocks/MockRetakeActionServer.hpp

@@ -1,57 +0,0 @@
-#pragma once
-
-namespace assignments::two {
-
-class MockRetakeActionServer {
-public:
-    MockRetakeActionServer(std::shared_ptr<rclcpp::Node> node) : node_(node) {
-        action_server_ = rclcpp_action::create_server<g2_2025_interfaces::action::Retake>(
-            node_,
-            "retake_action",
-            std::bind(&MockRetakeActionServer::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
-            std::bind(&MockRetakeActionServer::handle_cancel, this, std::placeholders::_1),
-            std::bind(&MockRetakeActionServer::handle_accepted, this, std::placeholders::_1)
-        );
-    }
-
-    rclcpp_action::GoalResponse handle_goal(
-        const rclcpp_action::GoalUUID & uuid,
-        std::shared_ptr<const g2_2025_interfaces::action::Retake::Goal> goal
-    ) {
-        (void)uuid;
-        received_goals_.push_back(*goal);
-        return goal_response_;
-    }
-
-    rclcpp_action::CancelResponse handle_cancel(
-        const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle
-    ) {
-        (void)goal_handle;
-        cancel_requests++;
-        return rclcpp_action::CancelResponse::ACCEPT;
-    }
-
-    void handle_accepted(const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle) {
-        accepted_goals++;
-
-        // Simulate immediate success
-        auto result = std::make_shared<g2_2025_interfaces::action::Retake::Result>();
-        result->result = 0.0;
-        goal_handle->succeed(result);
-    }
-
-    void set_goal_response(rclcpp_action::GoalResponse response) {
-        goal_response_ = response;
-    }
-
-    std::vector<g2_2025_interfaces::action::Retake::Goal> received_goals_;
-    int accepted_goals = 0;
-    int cancel_requests = 0;
-
-private:
-    std::shared_ptr<rclcpp::Node> node_;
-    rclcpp_action::Server<g2_2025_interfaces::action::Retake>::SharedPtr action_server_;
-    rclcpp_action::GoalResponse goal_response_ = rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
-};
-
-} // namespace assignments::two