Pytest bdd

.devcontainer/postCreate.sh

@@ -1,4 +1,9 @@
 cd /workspaces/bsn &&\
     rosdep install --from-paths src --ignore-src -r -y &&\
+    rm -rf build &&\
+    rm -rf devel &&\
     catkin_make
     echo "source /workspaces/bsn/devel/setup.sh" >> /root/.bashrc
+    source ~/.bashrc
+    source /opt/ros/melodic/setup.bash
+

.gitignore

@@ -26,7 +26,8 @@ json/
 # Ignore generated docs
 *.dox
 *.wikidoc
-
+html
+latex
 # eclipse stuff
 .project
 .cproject
@@ -64,4 +65,6 @@ test.py
 json
 venv
 TODO
-bsn_remote_control
+bsn_remote_control
+
+coverage/

Dockerfile.dev

@@ -1,10 +1,21 @@
-FROM ros:melodic-ros-core-bionic
-
-RUN apt update &&\
-    apt install -y python-rosdep build-essential git python-pip python3-pip python-virtualenv python-rospkg ros-melodic-rosmon &&\
-    sudo rosdep init && rosdep update &&\
-    pip3 install pandas
-
-COPY .devcontainer/additional_bashrc.sh /root/.additional_bashrc
-
-RUN cat "/root/.additional_bashrc" >> /root/.bashrc && rm /root/.additional_bashrc
+FROM ros:melodic-ros-core-bionic
+
+RUN apt update &&\
+    apt install -y python-rosdep build-essential git python-pip python3-pip python-virtualenv python-rospkg ros-melodic-rosmon &&\
+    sudo rosdep init && rosdep update &&\
+    pip3 install pandas &&\
+    pip3 install behave &&\
+    sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstool &&\
+    sudo apt-get install python3-pybind11 &&\
+    sudo apt-get install python-pybind11
+
+
+ENV DISPLAY=:0
+ENV QT_X11_NO_MITSHM=1
+
+COPY .devcontainer/additional_bashrc.sh /root/.additional_bashrc
+
+RUN cat "/root/.additional_bashrc" >> /root/.bashrc && rm /root/.additional_bashrc
+
+
+

bsn.launch

@@ -1,25 +1,25 @@
-<launch>
- 
-    <include file="./src/sa-bsn/configurations/knowledge_repository/data_access.launch" /> <!-- KNOWLEDGE REPOSITORY -->
-
-    <include file="./src/sa-bsn/configurations/system_manager/strategy_manager.launch" /> <!-- MANAGER SYSTEM -->
-    <include file="./src/sa-bsn/configurations/system_manager/strategy_enactor.launch" /> <!-- MANAGER SYSTEM -->
-
-    <include file="./src/sa-bsn/configurations/logging_infrastructure/logger.launch" /> <!-- LOGGING INFRASTRUCTURE -->
-
-    <include file="./src/sa-bsn/configurations/target_system/probe.launch" />  <!-- APPLICATION -->
-    <include file="./src/sa-bsn/configurations/target_system/effector.launch" /> <!-- APPLICATION -->
-    <include file="./src/sa-bsn/configurations/target_system/g4t1.launch" /> <!-- APPLICATION -->
-
-    <include file="./src/sa-bsn/configurations/environment/patient.launch " /> <!-- APPLICATION -->
-
-    <include file="./src/sa-bsn/configurations/target_system/g3t1_1.launch" /> <!-- APPLICATION -->
-    <include file="./src/sa-bsn/configurations/target_system/g3t1_2.launch" /> <!-- APPLICATION -->
-    <include file="./src/sa-bsn/configurations/target_system/g3t1_3.launch" /> <!-- APPLICATION -->
-    <include file="./src/sa-bsn/configurations/target_system/g3t1_4.launch" /> <!-- APPLICATION -->
-    <include file="./src/sa-bsn/configurations/target_system/g3t1_5.launch" /> <!-- APPLICATION -->
-    <include file="./src/sa-bsn/configurations/target_system/g3t1_6.launch" /> <!-- APPLICATION -->
-
-    <!--<include file="./src/sa-bsn/configurations/simulation/injector.launch" /> <!-- FAULT INJECTION -->
-
+<launch>
+
+    <include file="./src/sa-bsn/configurations/knowledge_repository/data_access.launch" /> <!-- KNOWLEDGE REPOSITORY -->
+
+    <include file="./src/sa-bsn/configurations/system_manager/strategy_manager.launch" /> <!-- MANAGER SYSTEM -->
+    <include file="./src/sa-bsn/configurations/system_manager/strategy_enactor.launch" /> <!-- MANAGER SYSTEM -->
+
+    <include file="./src/sa-bsn/configurations/logging_infrastructure/logger.launch" /> <!-- LOGGING INFRASTRUCTURE -->
+
+    <include file="./src/sa-bsn/configurations/target_system/probe.launch" />  <!-- APPLICATION -->
+    <include file="./src/sa-bsn/configurations/target_system/effector.launch" /> <!-- APPLICATION -->
+    <include file="./src/sa-bsn/configurations/target_system/g4t1.launch" /> <!-- APPLICATION -->
+
+    <include file="./src/sa-bsn/configurations/environment/patient.launch" /> <!-- APPLICATION -->
+
+    <include file="./src/sa-bsn/configurations/target_system/g3t1_1.launch" /> <!-- APPLICATION -->
+    <include file="./src/sa-bsn/configurations/target_system/g3t1_2.launch" /> <!-- APPLICATION -->
+    <include file="./src/sa-bsn/configurations/target_system/g3t1_3.launch" /> <!-- APPLICATION -->
+    <include file="./src/sa-bsn/configurations/target_system/g3t1_4.launch" /> <!-- APPLICATION -->
+    <include file="./src/sa-bsn/configurations/target_system/g3t1_5.launch" /> <!-- APPLICATION -->
+    <include file="./src/sa-bsn/configurations/target_system/g3t1_6.launch" /> <!-- APPLICATION -->
+
+    <!--<include file="./src/sa-bsn/configurations/simulation/injector.launch" />  FAULT INJECTION -->
+    
 </launch>

coverage.sh

@@ -0,0 +1,79 @@
+#!/bin/bash
+
+# --- Configurações ---
+OUTPUT_DIR="coverage"
+# Agora os arquivos intermediários ficarão DENTRO da pasta de output
+INFO_FILE="$OUTPUT_DIR/coverage.info"
+INFO_FILE_CLEAN="$OUTPUT_DIR/coverage_cleaned.info"
+
+# Verifica se estamos na raiz do workspace
+if [ ! -f "devel/setup.bash" ]; then
+    echo "❌ Erro: Execute este script da raiz do seu workspace catkin."
+    exit 1
+fi
+
+# Carrega o ambiente
+source devel/setup.bash
+
+# Cria a pasta de destino imediatamente para guardar a bagunça lá
+mkdir -p "$OUTPUT_DIR"
+
+echo "========================================="
+echo "🧹 1. Zerando contadores anteriores..."
+echo "========================================="
+lcov --directory . --zerocounters --quiet
+
+echo "========================================="
+echo "🚀 2. Rodando os testes..."
+echo "========================================="
+
+if [ $# -eq 0 ]; then
+    echo "⚠️  Nenhum comando passado. Rodando 'catkin_make run_tests'..."
+    catkin_make run_tests
+else
+    echo "Executando: $@"
+    "$@"
+fi
+
+# Captura erro do teste mas não para o script
+TEST_EXIT_CODE=$?
+if [ $TEST_EXIT_CODE -ne 0 ]; then
+    echo "⚠️  Os testes falharam. Gerando relatório para diagnóstico..."
+fi
+
+echo "========================================="
+echo "📸 3. Capturando dados (Salvando em $OUTPUT_DIR)..."
+echo "========================================="
+# Gera o arquivo bruto JÁ dentro da pasta output
+lcov --directory . --capture --output-file "$INFO_FILE" --rc lcov_branch_coverage=1
+
+echo "========================================="
+echo "🗑️  4. Filtrando arquivos..."
+echo "========================================="
+lcov --remove "$INFO_FILE" \
+    '/usr/*' \
+    '/opt/*' \
+    '*/test/*' \
+    '*/tests/*' \
+    '*/build/*' \
+    '*/devel/*' \
+    '*/CMakeCCompilerId.c' \
+    '*/CMakeCXXCompilerId.cpp' \
+    --output-file "$INFO_FILE_CLEAN" \
+    --rc lcov_branch_coverage=1
+
+echo "========================================="
+echo "📊 5. Gerando HTML..."
+echo "========================================="
+genhtml "$INFO_FILE_CLEAN" --output-directory "$OUTPUT_DIR" --rc lcov_branch_coverage=1 --legend
+
+# --- LIMPEZA FINAL ---
+# Remove os arquivos .info para deixar apenas o site HTML.
+# Se quiser guardar os dados brutos para usar no Codecov/Sonar, comente as linhas abaixo.
+echo "✨ Limpando arquivos temporários..."
+rm "$INFO_FILE"
+rm "$INFO_FILE_CLEAN"
+
+echo ""
+echo "✅ Concluído!"
+echo "📄 Abra: $(pwd)/$OUTPUT_DIR/index.html"

src/CMakeLists.txt

@@ -1 +1,2 @@
-/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
+include(/opt/ros/melodic/share/catkin/cmake/toplevel.cmake)

src/libbsn/src/configuration/SensorConfiguration.cpp

@@ -159,15 +159,17 @@ namespace bsn {
 		}
 
 		bool SensorConfiguration::isLowRisk(double val) {
-			return lowRisk.in_range(val);
+			return lowPercentage.in_range(val);
 		}
 
 		bool SensorConfiguration::isMediumRisk(double val) {
-			return (mediumRisk[0].in_range(val) || mediumRisk[1].in_range(val));
+			// return (mediumRisk[0].in_range(val) || mediumRisk[1].in_range(val));
+			return midPercentage.in_range(val);
 		}
 
 		bool SensorConfiguration::isHighRisk(double val) {
-			return (highRisk[0].in_range(val) || highRisk[1].in_range(val));
+			// return (highRisk[0].in_range(val) || highRisk[1].in_range(val));
+			return highPercentage.in_range(val);
 		}
 
 		void SensorConfiguration::setHighRisk(const array<Range, 2> h) {