test_behavior_without_context_input_port_not_set.hpp File Reference
#include <gmock/gmock.h>#include <moveit_studio_behavior_interface/shared_resources_node.hpp>#include <moveit_studio_behavior_interface/test_behavior.hpp>#include <moveit_studio_common/test_utils/ros_test.hpp>
Include dependency graph for test_behavior_without_context_input_port_not_set.hpp:
Namespaces | |
| moveit_studio | |
| moveit_studio::test_utils | |
Macros | |
| #define | INSTANTIATE_BEHAVIOR_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS_(behavior_class, input_port_setter_generator, output_port_setter_generator, pre_tick_code) |
| #define | INSTANTIATE_SYNC_BEHAVIOR_WITHOUT_CONTEXT_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 without context. More... | |
| #define | INSTANTIATE_ASYNC_BEHAVIOR_WITHOUT_CONTEXT_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 without context. More... | |
Macro Definition Documentation
◆ INSTANTIATE_ASYNC_BEHAVIOR_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS
| #define INSTANTIATE_ASYNC_BEHAVIOR_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS | ( | behavior_class, | |
| input_port_setter_generator, | |||
| output_port_setter_generator | |||
| ) |
Value:
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);)
constexpr auto kPortNotSetTestsMaxTimeBehaviorIsInRunningStatus
Definition: test_behavior_input_port_not_set.hpp:17
#define INSTANTIATE_BEHAVIOR_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS_(behavior_class, input_port_setter_generator, output_port_setter_generator, pre_tick_code)
Definition: test_behavior_without_context_input_port_not_set.hpp:22
Automatically instantiates tests for the "input Behavior port not set" situation for asynchronous Behaviors without 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 usingstatement 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_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS_
| #define INSTANTIATE_BEHAVIOR_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS_ | ( | behavior_class, | |
| input_port_setter_generator, | |||
| output_port_setter_generator, | |||
| pre_tick_code | |||
| ) |
Value:
class behavior_class##BehaviorInputPortNotSetTest \
: public ::moveit_studio::test_utils::RosTest, \
public ::moveit_studio::test_utils::WithBehaviorWithoutContext<behavior_class>, \
public ::testing::WithParamInterface<std::string> \
{ \
public: \
behavior_class##BehaviorInputPortNotSetTest() \
{ \
initBehavior(#behavior_class, input_port_setter_generator, output_port_setter_generator); \
} \
}; \
\
TEST_P(behavior_class##BehaviorInputPortNotSetTest, FailsIfPortNotSet) \
{ \
const std::string missing_port_name = GetParam(); \
for (const auto& [port_name, port_setter] : input_port_setter_generator()) \
{ \
if (port_name == missing_port_name || !port_setter) \
{ \
continue; \
} \
port_setter(blackboard(), port_name); \
} \
pre_tick_code; \
EXPECT_EQ(behavior().executeTick(), BT::NodeStatus::FAILURE); \
} \
\
INSTANTIATE_TEST_SUITE_P(UnsetPortTests, behavior_class##BehaviorInputPortNotSetTest, \
::testing::ValuesIn(::moveit_studio::test_utils::getPortIDs(input_port_setter_generator(), \
/*only_mandatory=*/true)));
Adds testing capabilities of Behaviors without context to any test fixture.
Definition: test_behavior.hpp:56
std::set< std::string > getPortIDs(const PortSetterMap &map, const bool only_mandatory)
Returns port IDs in a port setter map.
Definition: test_behavior_impl.hpp:115
◆ INSTANTIATE_SYNC_BEHAVIOR_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS
| #define INSTANTIATE_SYNC_BEHAVIOR_WITHOUT_CONTEXT_PORT_NOT_SET_TESTS | ( | behavior_class, | |
| input_port_setter_generator, | |||
| output_port_setter_generator | |||
| ) |
Value:
INSTANTIATE_BEHAVIOR_WITHOUT_CONTEXT_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 without 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 usingstatement 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.
