Gtest Primer

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HistoricallyGoogleTest started to use the term Test Case for groupingrelated tests, whereas current publications, including International SoftwareTesting Qualifications Board (ISTQB) materials andvarious textbooks on software quality, use the termTest Suite for this.

A test suite contains one or many tests. You should group your tests into testsuites that reflect the structure of the tested code. When multiple tests in atest suite need to share common objects and subroutines, you can put them into atest fixture class.

Since a failed ASSERT_* returns from the current function immediately,possibly skipping clean-up code that comes after it, it may cause a space leak.Depending on the nature of the leak, it may or may not be worth fixing - so keepthis in mind if you get a heap checker error in addition to assertion errors.

GoogleTest provides a collection of assertions for verifying the behavior ofyour code in various ways. You can check Boolean conditions, compare valuesbased on relational operators, verify string values, floating-point values, andmuch more. There are even assertions that enable you to verify more complexstates by providing custom predicates. For the complete list of assertionsprovided by GoogleTest, see the Assertions Reference.

GoogleTest groups the test results by test suites, so logically related testsshould be in the same test suite; in other words, the first argument to theirTEST() should be the same. In the above example, we have two tests,HandlesZeroInput and HandlesPositiveInput, that belong to the same testsuite FactorialTest.

For each test defined with TEST_F(), GoogleTest will create a fresh testfixture at runtime, immediately initialize it via SetUp(), run the test, cleanup by calling TearDown(), and then delete the test fixture. Note thatdifferent tests in the same test suite have different test fixture objects, andGoogleTest always deletes a test fixture before it creates the next one.GoogleTest does not reuse the same test fixture for multiple tests. Anychanges one test makes to the fixture do not affect other tests.

IMPORTANT: You must not ignore the return value of RUN_ALL_TESTS(), oryou will get a compiler error. The rationale for this design is that theautomated testing service determines whether a test has passed based on itsexit code, not on its stdout/stderr output; thus your main() function mustreturn the value of RUN_ALL_TESTS().

Most users should not need to write their own main function and instead linkwith gtest_main (as opposed to with gtest), which defines a suitable entrypoint. See the end of this section for details. The remainder of this sectionshould only apply when you need to do something custom before the tests run thatcannot be expressed within the framework of fixtures and test suites.

I would appreciate very much if someone can point me to tutorials and resources about (google) unit testing with ROS. I am aware of the official page, so I would appreciate if there are other resources. I would like to understand practically how to do this.

The first and far most the great source to start with gtest is the Googletest Primer. Depending upon this there are several tutorials out there like video lectures here with its code here gives a head start. There are also other several examples on github like here. The guy here have provided examples for all levels of testing unit test both in python(unittest) and c++(gtest) and than regression testing with ros in launch files. The repo also has pdf presentation with which you can understand what he tries to explain and test.

In Visual Studio 2017 and later, Google Test is integrated into the Visual Studio IDE as a default component of the Desktop Development with C++ workload. To verify that it's installed on your machine, open the Visual Studio Installer. Find Google Test under the list of workload components:

In the Test Project Configuration dialog that is displayed, you can choose the project you want to test. When you choose a project, Visual Studio adds a reference to the selected project. If you choose no project, then you need to manually add references to the project(s) you want to test. When choosing between static and dynamic linking to the Google Test binaries, the considerations are the same as for any C++ program. For more information, see DLLs in Visual C++.

In your test .cpp file, add any needed #include directives to make your program's types and functions visible to the test code. Typically, the program is up one level in the folder hierarchy. If you type #include "../" an IntelliSense window will pop up and enable you to select the full path to the header file.

You're now ready to write and run Google Tests. For information about the test macros, see the Google Test primer. For information about discovering, running, and grouping your tests by using Test Explorer, see Run unit tests with Test Explorer.

"Google's framework for writing C++ tests on a variety of platforms (Linux,Mac OS X, Windows, Cygwin, Windows CE, and Symbian). Based on the xUnitarchitecture. Supports automatic test discovery, a rich set of assertions,user-defined assertions, death tests, fatal and non-fatal failures, value- andtype-parameterized tests, various options for running the tests, and XML testreport generation."

As normal, once you return an object via a PassOwnPtr you no longer control thelife cycle of the object. This means that you must not use the object as anexpectation (EXPECT_CALL) for another function call because;

Test helpers are an important part of making Blink easier to test for everyone.The more test helpers that exist, the easier it is to write new unit tests asyou have to write less boilerplate code and find it easier to debug failingtests.

Both the EXPECT_EQ and the EXPECT_CALL methods use a == b to compare iftwo objects are equal. However for many reasons you don't want this operator tobe generally available in Blink. You can define the operator in the test helperinstead and then it will only be available during tests.

Google Test, often referred as gtest, is a specialized library utilized to conduct unit testing in the C++ programming language. This library operates under the terms of the BSD 3-clause license.[2] Google Test is based on the xUnit architecture, a systematic methodology for assessing software components.[3]

Google Test can be compiled for a diverse range of computer systems, encompassing those employing POSIX, a set of standard operating system interfaces, as well as the Microsoft Windows platform. This adaptability facilitates the execution of unit tests on both C and C++ codebases, with minimal alterations required in the source code[citation needed].

Google Test UI is a software tool for testing computer programs, and serves as a test runner. It employs a 'test binary', a compiled program responsible for executing tests and analyzing their results, to evaluate software functionality. It visually presents the testing progress through a progress bar and displays a list of identified issues or 'test failures'. The tool is primarily written in C#.[7] A Visual Studio extension, Google Test Adapter, complements its functionality within the Visual Studio environment.[8]

Note that this package only install source files. You have to compile the code yourself to create the necessary library files. These source files should be located at /usr/src/gtest. Browse to this folder and use cmake to compile the library:

In the following code, we create two tests that test the function using a simple assertion. There exists many other assertion macros in the framework (see ). The code contains a small main function that will run all of the tests automatically. Nice and simple!

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Focus on Unit Testing: gtest excels at unit testing, which involves isolating and testing individual software modules. While crucial, automotive software testing requires a broader approach encompassing integration testing, system testing, and hardware-in-the-loop (HIL) testing. Limited Support for Real-Time Testing: gtest primarily focuses on functional testing, which might not adequately address real-time behavior critical for automotive systems. Real-time testing ensures software responsiveness and performance under time constraints, often requiring specialized tools. Lack of Safety-Specific Features: gtest doesn't offer built-in features for safety-oriented testing practices mandated by the automotive industry, such as test case traceability and coverage analysis for safety requirements (e.g., following ISO 26262 standards).

Specialized Testing Tools: For specific testing scenarios like stress testing, HIL testing, or fuzz testing, specialized tools might be necessary. These tools offer features optimized for those particular testing types, ensuring a comprehensive test suite. Examples are: TPT by PikeTec , VectorCast by VECTOR Informatik , Cantata by QA Systems - The Software Quality Company etc., Automotive Testing Frameworks: Frameworks like CppUTest, Catch2 also cater to automotive software testing needs. They provide features like real-time testing capabilities, support for test mocks and stubs, and integration with testing tools like HIL simulators.

Early-Stage Unit Testing: gtest's simplicity and ease of use make it suitable for initial unit testing of individual software modules. Complementary Testing Approach: gtest can be integrated alongside other testing frameworks or tools to create a more comprehensive testing strategy. For instance, gtest might be used for unit testing, while a specialized framework handles integration testing.

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