test_behavior_input_port_not_set.hpp File Reference

#include <gmock/gmock.h>
#include <moveit_pro_test_utils/ros_test.hpp>
#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
#include <moveit_studio_behavior_interface/test_behavior.hpp>

Include dependency graph for test_behavior_input_port_not_set.hpp:

Namespaces
namespace	moveit_studio
namespace	moveit_studio::test_utils

Macros
#define	DEFAULT_FIXTURE_(behavior_class)    public ::moveit_studio::test_utils::WithBehavior<behavior_class>, public ::moveit_studio::test_utils::RosTest
#define	INSTANTIATE_BEHAVIOR_PORT_NOT_SET_TESTS_(test_fixture, behavior_class, input_port_setter_generator, output_port_setter_generator, pre_tick_code)
#define	INSTANTIATE_SYNC_BEHAVIOR_PORT_NOT_SET_TESTS(behavior_class, input_port_setter_generator, output_port_setter_generator)
	Automatically instantiates tests for the "input Behavior port not set" situation for synchronous Behaviors with context.
#define	INSTANTIATE_ASYNC_BEHAVIOR_PORT_NOT_SET_TESTS(behavior_class, input_port_setter_generator, output_port_setter_generator)
	Automatically instantiates tests for the "input Behavior port not set" situation for asynchronous Behaviors with context.
#define	INSTANTIATE_ACTION_BEHAVIOR_PORT_NOT_SET_TESTS(test_fixture, behavior_class, input_port_setter_generator, output_port_setter_generator)
	Automatically instantiates tests for the "input Behavior port not set" situation for asynchronous Behaviors with context that require a specific text fixture.

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

Macro Definition Documentation

DEFAULT_FIXTURE_

#define DEFAULT_FIXTURE_

(

behavior_class

)

public ::moveit_studio::test_utils::WithBehavior<behavior_class>, public ::moveit_studio::test_utils::RosTest

INSTANTIATE_ACTION_BEHAVIOR_PORT_NOT_SET_TESTS

#define INSTANTIATE_ACTION_BEHAVIOR_PORT_NOT_SET_TESTS	(		test_fixture,
			behavior_class,
			input_port_setter_generator,
			output_port_setter_generator
	)

Value:

  INSTANTIATE_BEHAVIOR_PORT_NOT_SET_TESTS_(                                                                            \
      public test_fixture, behavior_class, input_port_setter_generator, output_port_setter_generator,                  \
      ASSERT_EQ(behavior().executeTick(), BT::NodeStatus::RUNNING)                                                     \
          << "Should you use INSTANTIATE_SYNC_BEHAVIOR_PORT_NOT_SET_TESTS instead?";                                   \
      std::this_thread::sleep_for(::moveit_studio::test_utils::kPortNotSetTestsMaxTimeBehaviorIsInRunningStatus);)

Automatically instantiates tests for the "input Behavior port not set" situation for asynchronous Behaviors with context that require a specific text fixture.

One test is generated for each Behavior input port.

Parameters

test_fixture	Test fixture that sets up all action server mocks.
behavior_class	Class of the behavior under test. It cannot have namespace qualifiers. If those are needed, please use a using statement in the test file.
input_port_setter_generator	A port setter map generator defining the expected input ports.
output_port_setter_generator	A port setter map generator defining the expected output ports.

INSTANTIATE_ASYNC_BEHAVIOR_PORT_NOT_SET_TESTS

#define INSTANTIATE_ASYNC_BEHAVIOR_PORT_NOT_SET_TESTS	(		behavior_class,
			input_port_setter_generator,
			output_port_setter_generator
	)

Value:

  INSTANTIATE_BEHAVIOR_PORT_NOT_SET_TESTS_(                                                                            \
      DEFAULT_FIXTURE_(behavior_class), behavior_class, input_port_setter_generator, output_port_setter_generator,     \
      ASSERT_EQ(behavior().executeTick(), BT::NodeStatus::RUNNING)                                                     \
          << "Should you use INSTANTIATE_SYNC_BEHAVIOR_PORT_NOT_SET_TESTS instead?";                                   \
      std::this_thread::sleep_for(::moveit_studio::test_utils::kPortNotSetTestsMaxTimeBehaviorIsInRunningStatus);)

Automatically instantiates tests for the "input Behavior port not set" situation for asynchronous Behaviors with context.

One test is generated for each Behavior input port.

Parameters

behavior_class	Class of the behavior under test. It cannot have namespace qualifiers. If those are needed, please use a using statement in the test file.
input_port_setter_generator	A port setter map generator defining the expected input ports.
output_port_setter_generator	A port setter map generator defining the expected output ports.

INSTANTIATE_BEHAVIOR_PORT_NOT_SET_TESTS_

#define INSTANTIATE_BEHAVIOR_PORT_NOT_SET_TESTS_	(		test_fixture,
			behavior_class,
			input_port_setter_generator,
			output_port_setter_generator,
			pre_tick_code
	)

INSTANTIATE_SYNC_BEHAVIOR_PORT_NOT_SET_TESTS

#define INSTANTIATE_SYNC_BEHAVIOR_PORT_NOT_SET_TESTS	(		behavior_class,
			input_port_setter_generator,
			output_port_setter_generator
	)

Value:

  INSTANTIATE_BEHAVIOR_PORT_NOT_SET_TESTS_(DEFAULT_FIXTURE_(behavior_class), behavior_class,                           \
                                           input_port_setter_generator, output_port_setter_generator, )

Automatically instantiates tests for the "input Behavior port not set" situation for synchronous Behaviors with context.

One test is generated for each Behavior input port.

Parameters

behavior_class	Class of the behavior under test. It cannot have namespace qualifiers. If those are needed, please use a using statement in the test file.
input_port_setter_generator	A port setter map generator defining the expected input ports.
output_port_setter_generator	A port setter map generator defining the expected output ports.