From 42b869741cf4526ef5fbfea190da8cc84fd6e462 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mateusz=20=C5=BBak?= <mateusz.zak@robotec.ai>
Date: Fri, 11 Oct 2024 15:47:39 +0200
Subject: [PATCH] complete the test with other namespace strategies
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Signed-off-by: Mateusz Żak <mateusz.zak@robotec.ai>
---
 .../Tests/Frame/ROS2FrameComponentTest.cpp    | 29 +++++++++++++++++--
 1 file changed, 27 insertions(+), 2 deletions(-)

diff --git a/Gems/ROS2/Code/Tests/Frame/ROS2FrameComponentTest.cpp b/Gems/ROS2/Code/Tests/Frame/ROS2FrameComponentTest.cpp
index c985cd596..8cbc1508f 100644
--- a/Gems/ROS2/Code/Tests/Frame/ROS2FrameComponentTest.cpp
+++ b/Gems/ROS2/Code/Tests/Frame/ROS2FrameComponentTest.cpp
@@ -136,7 +136,7 @@ namespace UnitTest
         }
     }
 
-    TEST_F(ROS2FrameComponentFixture, UpdateNamespace_Custom)
+    TEST_F(ROS2FrameComponentFixture, UpdateNamespace)
     {
         ROS2::ROS2FrameConfiguration config;
 
@@ -149,9 +149,34 @@ namespace UnitTest
         entity.Init();
         entity.Activate();
 
-        ASSERT_STREQ(frame->GetNamespace().c_str(), ("o3de_" + entityName).c_str());
+        auto rosifiedName = "o3de_" + entityName;
+        ASSERT_STREQ(frame->GetNamespace().c_str(), rosifiedName.c_str());
+
+        // Note that namespace parameter is only applied using Custom strategy
         frame->UpdateNamespaceConfiguration("MyCustomNamespace", ROS2::NamespaceConfiguration::NamespaceStrategy::Custom);
         EXPECT_STREQ(frame->GetNamespace().c_str(), "MyCustomNamespace");
+        // Empty strategy clears the namespace
+        frame->UpdateNamespaceConfiguration("MyCustomNamespace", ROS2::NamespaceConfiguration::NamespaceStrategy::Empty);
+        EXPECT_STREQ(frame->GetNamespace().c_str(), "");
+        // From Entity Name strategy uses rosified version of Entity Name
+        frame->UpdateNamespaceConfiguration("MyCustomNamespace", ROS2::NamespaceConfiguration::NamespaceStrategy::FromEntityName);
+        EXPECT_STREQ(frame->GetNamespace().c_str(), rosifiedName.c_str());
+        // Default strategy is like From Entity Name strategy if the entity is on top of hierarchy ...
+        frame->UpdateNamespaceConfiguration("MyCustomNamespace", ROS2::NamespaceConfiguration::NamespaceStrategy::Default);
+        EXPECT_STREQ(frame->GetNamespace().c_str(), rosifiedName.c_str());
+
+        AZ::Entity newRootEntity;
+        AZStd::string newRootName = "new_root";
+        newRootEntity.SetName(newRootName);
+        newRootEntity.CreateComponent<AzFramework::TransformComponent>();
+        newRootEntity.CreateComponent<ROS2::ROS2FrameComponent>(config);
+        newRootEntity.Init();
+        newRootEntity.Activate();
+        AZ::TransformBus::Event(entity.GetId(), &AZ::TransformBus::Events::SetParent, newRootEntity.GetId());
+
+        // If there is a parent Default strategy concatenates parent's namespace with rosified name
+        frame->UpdateNamespaceConfiguration("MyCustomNamespace", ROS2::NamespaceConfiguration::NamespaceStrategy::Default);
+        EXPECT_STREQ(frame->GetNamespace().c_str(), AZStd::string::format("%s/%s", newRootName.c_str(), rosifiedName.c_str()).c_str());
     }
 
 } // namespace UnitTest