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test(autoware_traffic_light_visualization): add characterization test for TrafficLightMapVisualizerNode - #12487
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takam5f2 merged 3 commits intoApr 21, 2026
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…s for TrafficLightMapVisualizerNode Add characterization tests to capture the current behavior of TrafficLightMapVisualizerNode before refactoring. These tests serve as a safety net to ensure behavior is preserved during upcoming logic separation and code cleanup.
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #12487 +/- ##
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LGTM!
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…m with XZ side view Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp>
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… for TrafficLightMapVisualizerNode (autowarefoundation#12487) * test(autoware_traffic_light_visualization): add characterization tests for TrafficLightMapVisualizerNode Add characterization tests to capture the current behavior of TrafficLightMapVisualizerNode before refactoring. These tests serve as a safety net to ensure behavior is preserved during upcoming logic separation and code cleanup. * test(autoware_traffic_light_visualization): clarify map layout diagram with XZ side view Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp> --------- Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp>
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… for TrafficLightMapVisualizerNode (autowarefoundation#12487) * test(autoware_traffic_light_visualization): add characterization tests for TrafficLightMapVisualizerNode Add characterization tests to capture the current behavior of TrafficLightMapVisualizerNode before refactoring. These tests serve as a safety net to ensure behavior is preserved during upcoming logic separation and code cleanup. * test(autoware_traffic_light_visualization): clarify map layout diagram with XZ side view Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp> --------- Signed-off-by: Takayuki AKAMINE <takayuki.akamine@tier4.jp> Signed-off-by: XiaoyuWang0601 <xiaoyu.wang@tier4.jp>
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… and tidy internal naming (#12553) Second of a planned series of incremental refactors for traffic_light_map_visualizer (follow-up to #12511). - Introduce Bulb { id, position, color } and BulbsByGroupId, and extract `extract_bulbs(map_traffic_lights) -> BulbsByGroupId` as a free function. TrafficLightVisualizer no longer holds lanelet::ConstPoint3d; lanelet API knowledge is confined to the conversion seam. - Extract `parse_bulb_color` helper. - Tidy helper signatures (pass Time by value, hoist `using` to namespace scope) and scope TrafficLightGroupArray / LaneletMapBin aliases to the node class private section. - Internal renames for clarity: viz_lanelet_map -> lanelet_map, regulatory_element -> traffic_light, traffic_lights -> map_traffic_lights, current_time -> stamp, plus subscription / publisher / callback member updates. - Drop noisy "Map is loaded" debug log. - Update copyright year to 2020-2026. Behavior is preserved end-to-end; the characterization test from #12487 acts as the safety net.
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…est and rename core unit test (autowarefoundation#12612) * test(autoware_traffic_light_visualization): retire characterization test for TrafficLightMapVisualizerNode The characterization test introduced in autowarefoundation#12487 has served its purpose as the safety net during the refactor series (autowarefoundation#12511 / autowarefoundation#12553 / autowarefoundation#12591 / autowarefoundation#12596). Its scope is now fully covered by the finer-grained layers: - extract_bulbs unit tests: lanelet -> Bulb conversion - TrafficLightVisualizer core unit tests: bulb -> marker generation - Node smoke tests: pub/sub plumbing and map-not-received guard Remove the characterization test and its CMakeLists.txt entry. The remaining test executables run an order of magnitude faster, with no loss of behavioural coverage. * test(autoware_traffic_light_visualization): rename TrafficLightVisualizer unit test to take the package's main test slot With the characterization test retired, the unit test file for TrafficLightVisualizer is the most natural fit for the package's main test name. Rename it from test_traffic_light_map_visualizer_core.cpp to test_traffic_light_map_visualizer.cpp and update the matching ament_add_gtest target name in CMakeLists.txt accordingly. No content changes; this is a pure rename + CMake target rename. Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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Sep 7, 2026
… and tidy internal naming (autowarefoundation#12553) Second of a planned series of incremental refactors for traffic_light_map_visualizer (follow-up to autowarefoundation#12511). - Introduce Bulb { id, position, color } and BulbsByGroupId, and extract `extract_bulbs(map_traffic_lights) -> BulbsByGroupId` as a free function. TrafficLightVisualizer no longer holds lanelet::ConstPoint3d; lanelet API knowledge is confined to the conversion seam. - Extract `parse_bulb_color` helper. - Tidy helper signatures (pass Time by value, hoist `using` to namespace scope) and scope TrafficLightGroupArray / LaneletMapBin aliases to the node class private section. - Internal renames for clarity: viz_lanelet_map -> lanelet_map, regulatory_element -> traffic_light, traffic_lights -> map_traffic_lights, current_time -> stamp, plus subscription / publisher / callback member updates. - Drop noisy "Map is loaded" debug log. - Update copyright year to 2020-2026. Behavior is preserved end-to-end; the characterization test from autowarefoundation#12487 acts as the safety net. Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
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Sep 7, 2026
…est and rename core unit test (autowarefoundation#12612) * test(autoware_traffic_light_visualization): retire characterization test for TrafficLightMapVisualizerNode The characterization test introduced in autowarefoundation#12487 has served its purpose as the safety net during the refactor series (autowarefoundation#12511 / autowarefoundation#12553 / autowarefoundation#12591 / autowarefoundation#12596). Its scope is now fully covered by the finer-grained layers: - extract_bulbs unit tests: lanelet -> Bulb conversion - TrafficLightVisualizer core unit tests: bulb -> marker generation - Node smoke tests: pub/sub plumbing and map-not-received guard Remove the characterization test and its CMakeLists.txt entry. The remaining test executables run an order of magnitude faster, with no loss of behavioural coverage. * test(autoware_traffic_light_visualization): rename TrafficLightVisualizer unit test to take the package's main test slot With the characterization test retired, the unit test file for TrafficLightVisualizer is the most natural fit for the package's main test name. Rename it from test_traffic_light_map_visualizer_core.cpp to test_traffic_light_map_visualizer.cpp and update the matching ament_add_gtest target name in CMakeLists.txt accordingly. No content changes; this is a pure rename + CMake target rename. Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
TetsuKawa
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Sep 7, 2026
… and tidy internal naming (autowarefoundation#12553) Second of a planned series of incremental refactors for traffic_light_map_visualizer (follow-up to autowarefoundation#12511). - Introduce Bulb { id, position, color } and BulbsByGroupId, and extract `extract_bulbs(map_traffic_lights) -> BulbsByGroupId` as a free function. TrafficLightVisualizer no longer holds lanelet::ConstPoint3d; lanelet API knowledge is confined to the conversion seam. - Extract `parse_bulb_color` helper. - Tidy helper signatures (pass Time by value, hoist `using` to namespace scope) and scope TrafficLightGroupArray / LaneletMapBin aliases to the node class private section. - Internal renames for clarity: viz_lanelet_map -> lanelet_map, regulatory_element -> traffic_light, traffic_lights -> map_traffic_lights, current_time -> stamp, plus subscription / publisher / callback member updates. - Drop noisy "Map is loaded" debug log. - Update copyright year to 2020-2026. Behavior is preserved end-to-end; the characterization test from autowarefoundation#12487 acts as the safety net.
TetsuKawa
pushed a commit
to TetsuKawa/autoware_universe
that referenced
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Sep 7, 2026
…est and rename core unit test (autowarefoundation#12612) * test(autoware_traffic_light_visualization): retire characterization test for TrafficLightMapVisualizerNode The characterization test introduced in autowarefoundation#12487 has served its purpose as the safety net during the refactor series (autowarefoundation#12511 / autowarefoundation#12553 / autowarefoundation#12591 / autowarefoundation#12596). Its scope is now fully covered by the finer-grained layers: - extract_bulbs unit tests: lanelet -> Bulb conversion - TrafficLightVisualizer core unit tests: bulb -> marker generation - Node smoke tests: pub/sub plumbing and map-not-received guard Remove the characterization test and its CMakeLists.txt entry. The remaining test executables run an order of magnitude faster, with no loss of behavioural coverage. * test(autoware_traffic_light_visualization): rename TrafficLightVisualizer unit test to take the package's main test slot With the characterization test retired, the unit test file for TrafficLightVisualizer is the most natural fit for the package's main test name. Rename it from test_traffic_light_map_visualizer_core.cpp to test_traffic_light_map_visualizer.cpp and update the matching ament_add_gtest target name in CMakeLists.txt accordingly. No content changes; this is a pure rename + CMake target rename.
This was referenced Sep 15, 2026
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Description
Add characterization tests for
TrafficLightMapVisualizerNodeto capture the current behavior before refactoring. The node has several refactoring candidates including logic/node separation, dead code removal, and deeply nested loop simplification. These tests serve as a safety net to ensure behavior is preserved during those changes.5 test cases covering:
Related links
Parent Issue:
How was this PR tested?
colcon build --packages-select autoware_traffic_light_visualization \ --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON colcon test --packages-select autoware_traffic_light_visualization \ --event-handlers console_direct+All 5 tests pass.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.