moveit_studio::test_utils Namespace Reference

Classes
class	WithActionBehavior
class	WithBehavior
	Adds testing capabilities of Behaviors with context to any test fixture. More...
class	WithBehaviorWithoutContext
	Adds testing capabilities of Behaviors without context to any test fixture. More...
class	WrongBehaviorPortsException
	Exception thrown by Behavior testing classes when the Behavior does not define exactly the expected ports. More...

Typedefs
using	PortSetter = std::function< void(BT::Blackboard &, const std::string &)>
	A callable that sets a Behavior port in a blackboard.
using	PortSetterMap = std::map< std::string, PortSetter >
	A map associating port names to their setters.
using	PortSetterMapGenerator = const PortSetterMap &(*)(void)
	A function generating a map of port setters.

Functions
BT::NodeConfiguration	createNodeConfig (const std::set< std::string > &input_port_ids, const std::set< std::string > &output_port_ids)
std::string	joinStrings (const std::set< std::string > &input)
std::set< std::string >	getPortIDsWithDirection (const BT::PortsList &ports, const BT::PortDirection direction)
std::string	comparePortIds (const std::set< std::string > &actual, const std::set< std::string > &expected)
void	checkBehaviorPortExpectations (const std::string &behavior_name, const BT::PortsList &actual_port_list, const PortSetterMap &expected_input_port_setters, const PortSetterMap &expected_output_port_setters)
std::set< std::string >	getPortIDs (const PortSetterMap &map, bool only_mandatory=false)
	Returns port IDs in a port setter map.

Variables
constexpr auto	kPortNotSetTestsMaxTimeBehaviorIsInRunningStatus = std::chrono::milliseconds(100)

Typedef Documentation

PortSetter

using moveit_studio::test_utils::PortSetter = typedef std::function<void(BT::Blackboard&, const std::string&)>

A callable that sets a Behavior port in a blackboard.

PortSetterMap

using moveit_studio::test_utils::PortSetterMap = typedef std::map<std::string, PortSetter>

A map associating port names to their setters.

PortSetterMapGenerator

using moveit_studio::test_utils::PortSetterMapGenerator = typedef const PortSetterMap& (*)(void)

A function generating a map of port setters.

Setters for input and output ports are passed to the Behavior testing classes and macros to automatically generate port tests.

Function Documentation

checkBehaviorPortExpectations()

void moveit_studio::test_utils::checkBehaviorPortExpectations	(	const std::string &	behavior_name,
		const BT::PortsList &	actual_port_list,
		const PortSetterMap &	expected_input_port_setters,
		const PortSetterMap &	expected_output_port_setters
	)

comparePortIds()

std::string moveit_studio::test_utils::comparePortIds	(	const std::set< std::string > &	actual,
		const std::set< std::string > &	expected
	)

createNodeConfig()

BT::NodeConfiguration moveit_studio::test_utils::createNodeConfig	(	const std::set< std::string > &	input_port_ids,
		const std::set< std::string > &	output_port_ids
	)

getPortIDs()

std::set< std::string > moveit_studio::test_utils::getPortIDs	(	const PortSetterMap &	map,
		bool	only_mandatory = false
	)

Returns port IDs in a port setter map.

Parameters

map	The map from which to retrieve port IDs.
only_mandatory	if true, does not return IDs for optional ports.

Returns

If only_mandatory is false, IDs of all ports in the map; if only_mandatory is true, only IDs of mandatory ports.

getPortIDsWithDirection()

std::set< std::string > moveit_studio::test_utils::getPortIDsWithDirection	(	const BT::PortsList &	ports,
		const BT::PortDirection	direction
	)

joinStrings()

std::string moveit_studio::test_utils::joinStrings

(

const std::set< std::string > &

input

)

Variable Documentation

kPortNotSetTestsMaxTimeBehaviorIsInRunningStatus

constexpr auto moveit_studio::test_utils::kPortNotSetTestsMaxTimeBehaviorIsInRunningStatus = std::chrono::milliseconds(100)

constexpr