fix(test): add teat_autoware module (imu_driver and vehicle_velocity_converter) by nokosaaan · Pull Request #681 · tier4/awkernel

nokosaaan · 2026-04-20T09:43:31Z

Description

I have added the imu_driver and vehicle_velocity_converter modules. While I based the test code on the implementation in Autoware, there was no test code for imu_driver, so I created test cases focused on input and output. All test cases have been verified.

How was this PR tested?

cargo test --manifest-path /path/to/module/Cargo.toml
test_imu_driver.log
test_vehicle_velocity_converter.log

Notes for reviewers

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…_dev2

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…verter Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…rgo fmt 1 Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Copilot

Pull request overview

Adds a new applications/tests/test_autoware module with two subcrates (imu_driver and vehicle_velocity_converter) that model/convert Autoware-like messages and include unit tests for parsing and conversion behavior.

Changes:

Introduce imu_driver crate with a Tamagawa IMU binary parser + request builders and unit tests.
Introduce vehicle_velocity_converter crate that converts VelocityReport into TwistWithCovarianceStamped + unit tests.
Add a top-level test_autoware crate wiring in the new subcrates as path dependencies.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs	Adds message structs + velocity conversion logic and unit tests.
applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml	New crate manifest for `vehicle_velocity_converter`.
applications/tests/test_autoware/imu_driver/src/lib.rs	Adds IMU message structs, Tamagawa binary parsing/generation utilities, and unit tests.
applications/tests/test_autoware/imu_driver/Cargo.toml	New crate manifest for `imu_driver`.
applications/tests/test_autoware/Cargo.toml	New top-level `test_autoware` crate manifest depending on the two subcrates.
applications/tests/test_autoware/src/lib.rs	New (currently empty) top-level library file.

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/2a6ef5c8-5491-440d-bebf-6968b2fa5827 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

Copilot · 2026-04-20T10:46:04Z

Just as a heads up, I was blocked by some firewall rules while working on your feedback. Expand below for details.

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- Triggering command: /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo test --manifest-path applications/tests/test_autoware/imu_driver/Cargo.toml (http block)
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Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…imu-vehicle

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…icle

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

kobayu858 · 2026-05-18T05:48:44Z

+        let high_byte = (data[0] as i32) << 8;
+        let low_byte = data[1] as i32;
+        let result = (high_byte & 0xFFFFFF00u32 as i32) | (low_byte & 0x000000FF);
+        result as i16


The original C++ used & 0xFFFFFF00 to prevent sign extension from char. Since Rust's data is &[u8], this masking is unnecessary.

kobayu858 · 2026-05-18T05:50:24Z

+    pub fn default() -> Self {
+        Self::new("base_link", 0.2, 0.1, 1.0)
+    }
+


The current default() is a plain method, so it won't work in generic contexts that require T: Default.

kobayu858 · 2026-05-18T05:52:08Z

+#[repr(C)]
+pub struct Odometry {
+    pub velocity: f64,
+}


This struct is marked #[repr(C)] (C-compatible memory layout, typically for FFI) and pub, but it is never used anywhere. Is this an incomplete FFI binding or dead code left by mistake? If it's intentional, please add a comment explaining its purpose; otherwise, remove it.

kobayu858 · 2026-05-18T05:55:01Z

+        Self::new("base_link", 0.2, 0.1, 1.0)
+    }
+
+    pub fn convert_velocity_report(&self, msg: &VelocityReport) -> TwistWithCovarianceStamped {


The original C++ logs a warning when msg->header.frame_id != frame_id_. This is silently dropped in the Rust port.

https://github.com/autowarefoundation/autoware_core/blob/1.8.0/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp#L39-L41

kobayu858 · 2026-05-18T05:56:37Z

+// Ported from the following versions of the original C++ code:
+// core/autoware_core:
+// type: git
+// url: https://github.com/autowarefoundation/autoware_core.git
+// version: 1.8.0


The attribution comment only references the repository and version, but not the specific source file. Please also specify the original file path. Additionally, the original source is Apache 2.0 licensed; the license header should be carried over.

kobayu858 · 2026-05-18T05:56:44Z

+// Ported from the following versions of the original C++ code:
+// tamagawa_imu_driver
+// type: git
+// url: https://github.com/tier4/tamagawa_imu_driver
+// version: 0.1.0


The attribution comment only references the repository and version, but not the specific source file. Please also specify the original file path. Additionally, the original source is Apache 2.0 licensed; the license header should be carried over.

nokosaaan added 30 commits March 17, 2026 16:59

add: test_autoware

4b34c9a

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: perf features and test_dag for sending period info

dda7c64

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: feature devision for test_autoware 1

29e5173

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: comment alignment 1

9cabca9

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: module separation 1

9832297

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: revert schedtype and toml

9bac530

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

add: saveing implementation msg with period

47de021

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete kernel dependics

efb1f02

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: no period with test_autoware

b1b921b

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: reduce impl for get_period with macro

1b18749

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fix: reset test_dag

3c112f9

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fix: delete unnecessary comments

1cfa9ed

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Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

5b5bcaf

fix: delete warnings 1

4e8a8c3

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete warnings 2

60d50db

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

028ca6a

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

f6e2fcf

Merge branch 'mrm_dev2' of https://github.com/tier4/awkernel into mrm…

b75b75c

…_dev2

fix: delete warnings 3

48f29f1

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: sync bootloader-fix

aed1c5c

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

sync bootloader-fix 2

f024138

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add need-get-period

78081ab

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add line break in test_autoware

bbe0c3f

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add line break in test_autoware 2

b0fd3d8

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fix: add line break in pubsub.rs

8adae56

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Merge main branch

3be51e3

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fix: revert userland/Cargo.toml

ce34977

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Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

5bc111c

feat: add test_autoware and apply test code into vehicle_velocity_con…

98f9ba9

…verter Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: imu_driver test case based on tamagawa_imu_driver

a4ebd89

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

github-actions Bot assigned nokosaaan Apr 20, 2026

nokosaaan added 5 commits April 20, 2026 18:46

fix: revert dag.rs from main branch

9be0e73

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: revert dag.rs, pubsub.rs, task.rs, time_interval.rs and apply ca…

762e45d

…rgo fmt 1 Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add test_autoware/src/lib.rs

bfd8970

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: apply cargo fmt 2

ea58e98

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fix: apply cargo fmt 3

2b2e9c2

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

nokosaaan marked this pull request as ready for review April 20, 2026 10:23

nokosaaan requested a review from Copilot April 20, 2026 10:23

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Update applications/tests/test_autoware/imu_driver/src/lib.rs

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Copilot started work on behalf of nokosaaan April 20, 2026 10:38 View session

nokosaaan and others added 3 commits April 20, 2026 19:39

Update applications/tests/test_autoware/Cargo.toml

bc9d7f0

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

fix(imu_driver): validate full $TSC,BIN header in parser

18d7be9

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/2a6ef5c8-5491-440d-bebf-6968b2fa5827 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

test(imu_driver): simplify invalid header test setup

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Copilot finished work on behalf of nokosaaan April 20, 2026 10:46

nokosaaan added 4 commits April 20, 2026 21:49

fix: delete frame id mismatch

13612d5

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'imu-vehicle' of https://github.com/tier4/awkernel into …

f82b530

…imu-vehicle

fix: apply cargo fmt 2

847cc12

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: modify userland for test_autoware

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nokosaaan changed the title ~~feat(test): add teat_autoware module (imu_driver and vehicle_velocity_converter)~~ fix(test): add teat_autoware module (imu_driver and vehicle_velocity_converter) Apr 20, 2026

nokosaaan requested a review from kobayu858 April 20, 2026 13:02

nokosaaan added 5 commits April 27, 2026 21:09

Merge branch 'main' of https://github.com/tier4/awkernel into imu-veh…

389f752

…icle

fix: move autoware position

213b142

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add members of cargo

39cded2

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fix: dependics path

402f142

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fix: comment

3a28a7a

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kobayu858 mentioned this pull request May 15, 2026

fix(test): add teat_autoware module (imu_corrector) #687

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fix(test): add teat_autoware module (imu_driver and vehicle_velocity_converter)#681

fix(test): add teat_autoware module (imu_driver and vehicle_velocity_converter)#681
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nokosaaan commented Apr 20, 2026 •

edited

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nokosaaan commented Apr 20, 2026 •

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