generated from wessel/boilerplate
Wessel Tip
2cd95173d3
- Changed directories to TNC (Tilmann Naming Convention) - Updated `DatabaseManager` with new IMU methods - Added `IMUDatabaseWriter` test documentation
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IMU Database Writer Unit Tests
Unit tests for IMUDatabaseWriter are implemented in src/g2_2025_imu_reader_pkg/test/IMUDatabaseWriter.test.cpp using Google Test and ROS2 test utilities. These tests validate that the node subscribes to the imu_data topic, receives IMU messages, and forwards parsed values to the DatabaseManager interface. Tests use dependency injection with a mock DatabaseManager to avoid requiring a real database connection.
Test Cases
1. ConstructorTest
Description: Verifies that IMUDatabaseWriter can be constructed.
- Test Action: Create
IMUDatabaseWriternode with aMockDatabaseManager - Expected Result: Node instance created successfully without exceptions
2. ReceivesAndForwardsIMU
Description: Tests that the node receives IMU messages on the imu_data topic and calls store_imu_data(...) on the injected database manager.
- Expected Result: Mock's
called_flag is set totrue, confirming the node forwarded the IMU data to the database manager