integrationtest_sequence_action.cpp File Reference

#include <chrono>
#include <condition_variable>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <iostream>
#include <memory>
#include <mutex>
#include <stdexcept>
#include <thread>
#include <actionlib/client/simple_action_client.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/Constraints.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/JointConstraint.h>
#include <ros/ros.h>
#include <pilz_industrial_motion_planner_testutils/async_test.h>
#include <pilz_industrial_motion_planner_testutils/checks.h>
#include <pilz_industrial_motion_planner_testutils/sequence.h>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
#include <moveit_msgs/MoveGroupSequenceAction.h>

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Classes
class	IntegrationTestSequenceAction

Functions
const std::string	SEQUENCE_ACTION_NAME ("/sequence_move_group")
const std::string	JOINT_POSITION_TOLERANCE ("joint_position_tolerance")
const std::string	TEST_DATA_FILE_NAME ("testdata_file_name")
const std::string	GROUP_NAME ("group_name")
	TEST_F (IntegrationTestSequenceAction, TestSendingOfEmptySequence)
	Test behavior of sequence action server when empty sequence is sent. More...
	TEST_F (IntegrationTestSequenceAction, TestDifferingGroupNames)
	Tests that invalid (differing) group names are detected. More...
	TEST_F (IntegrationTestSequenceAction, TestNegativeBlendRadius)
	Tests that negative blend radii are detected. More...
	TEST_F (IntegrationTestSequenceAction, TestOverlappingBlendRadii)
	Tests that overlapping blend radii are detected. More...
	TEST_F (IntegrationTestSequenceAction, TestTooLargeBlendRadii)
	Tests that too large blend radii are detected. More...
	TEST_F (IntegrationTestSequenceAction, TestInvalidCmd)
	Tests what happens if sequence contains not executable (invalid) command. More...
	TEST_F (IntegrationTestSequenceAction, TestInvalidLinkName)
	Tests that incorrect link_names are detected. More...
	MATCHER_P (FeedbackStateEq, state, "")
	MATCHER (IsResultSuccess, "")
	MATCHER (IsResultNotEmpty, "")
	TEST_F (IntegrationTestSequenceAction, TestActionServerCallbacks)
	Tests that action server callbacks are called correctly. More...
	TEST_F (IntegrationTestSequenceAction, TestPlanOnlyFlag)
	Tests the "only planning" flag. More...
	TEST_F (IntegrationTestSequenceAction, TestIgnoreRobotStateForPlanOnly)
	Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage) in case "plan only" flag is set. More...
	TEST_F (IntegrationTestSequenceAction, TestNegativeBlendRadiusForPlanOnly)
	Tests that negative blend radii are detected (Mainly for full coverage) in case "plan only" flag is set. More...
	TEST_F (IntegrationTestSequenceAction, TestIgnoreRobotState)
	Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage). More...
	TEST_F (IntegrationTestSequenceAction, TestLargeRequest)
	Tests the execution of a sequence with more than two commands. More...
	TEST_F (IntegrationTestSequenceAction, TestComplexSequenceWithoutBlending)
	Tests the execution of a sequence command (without blending) consisting of most of the possible command type combination. More...
	TEST_F (IntegrationTestSequenceAction, TestComplexSequenceWithBlending)
	Tests the execution of a sequence command (with blending) consisting of most of the possible command type combination. More...
int	main (int argc, char **argv)

Variables
const std::string	GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED"
const std::string	SERVER_IDLE_EVENT = "SERVER_IDLE"

Function Documentation

GROUP_NAME()

const std::string GROUP_NAME

(

"group_name"

)

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JOINT_POSITION_TOLERANCE()

const std::string JOINT_POSITION_TOLERANCE

(

"joint_position_tolerance"

)

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 623 of file integrationtest_sequence_action.cpp.

MATCHER() [1/2]

MATCHER	(	IsResultNotEmpty	,
		""
	)

Definition at line 341 of file integrationtest_sequence_action.cpp.

MATCHER() [2/2]

MATCHER	(	IsResultSuccess	,
		""
	)

Definition at line 337 of file integrationtest_sequence_action.cpp.

MATCHER_P()

MATCHER_P	(	FeedbackStateEq	,
		state	,
		""
	)

Definition at line 333 of file integrationtest_sequence_action.cpp.

SEQUENCE_ACTION_NAME()

const std::string SEQUENCE_ACTION_NAME

(

"/sequence_move_group"

)

TEST_DATA_FILE_NAME()

const std::string TEST_DATA_FILE_NAME

(

"testdata_file_name"

)

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TEST_F() [1/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestActionServerCallbacks
	)

Tests that action server callbacks are called correctly.

Test Sequence:

1. Send goal for planning and execution.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Error code of the result is success. Active-, feedback- and done-callbacks are called.

Definition at line 358 of file integrationtest_sequence_action.cpp.

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TEST_F() [2/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestComplexSequenceWithBlending
	)

Tests the execution of a sequence command (with blending) consisting of most of the possible command type combination.

Test Sequence:

1. Create sequence goal and send it via ActionClient.
2. Wait for successful completion of command.

Expected Results:

1. -
2. ActionClient reports successful completion of command.

Definition at line 610 of file integrationtest_sequence_action.cpp.

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TEST_F() [3/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestComplexSequenceWithoutBlending
	)

Tests the execution of a sequence command (without blending) consisting of most of the possible command type combination.

Test Sequence:

1. Create sequence goal and send it via ActionClient.
2. Wait for successful completion of command.

Expected Results:

1. -
2. ActionClient reports successful completion of command.

Definition at line 583 of file integrationtest_sequence_action.cpp.

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TEST_F() [4/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestDifferingGroupNames
	)

Tests that invalid (differing) group names are detected.

Test Sequence:

1. Invalidate first request (change group_name) and send goal for planning and execution.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Error code of the result is failure.

Definition at line 170 of file integrationtest_sequence_action.cpp.

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TEST_F() [5/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestIgnoreRobotState
	)

Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage).

Test Sequence:

1. Send goal with "empty" planning scene for planning and execution.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Error code of the result is success.

Definition at line 513 of file integrationtest_sequence_action.cpp.

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TEST_F() [6/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestIgnoreRobotStateForPlanOnly
	)

Tests that robot state in planning_scene_diff is ignored (Mainly for full coverage) in case "plan only" flag is set.

Test Sequence:

1. Send goal with "empty" planning scene for planning and execution.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Error code of the result is success.

Definition at line 447 of file integrationtest_sequence_action.cpp.

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TEST_F() [7/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestInvalidCmd
	)

Tests what happens if sequence contains not executable (invalid) command.

Test Sequence:

1. Create sequence containing at least one invalid command.
2. Send goal for planning and execution.
3. Evaluate the result.

Expected Results:

1. -
2. Goal is sent to the action server.
3. Error code indicates an error + planned trajectory is empty.

Definition at line 286 of file integrationtest_sequence_action.cpp.

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TEST_F() [8/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestInvalidLinkName
	)

Tests that incorrect link_names are detected.

Test Sequence:

1. Create sequence and send it via ActionClient.
2. Wait for successful completion of command.

Expected Results:

1. -
2. ActionClient reports successful completion of command.

Definition at line 312 of file integrationtest_sequence_action.cpp.

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TEST_F() [9/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestLargeRequest
	)

Tests the execution of a sequence with more than two commands.

Test Sequence:

1. Create large sequence requests and sent it to action server.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Command succeeds, result trajectory is not empty.

Definition at line 543 of file integrationtest_sequence_action.cpp.

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TEST_F() [10/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestNegativeBlendRadius
	)

Tests that negative blend radii are detected.

Test Sequence:

1. Send goal for planning and execution.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Error code of the result is not success and the planned trajectory is empty.

Definition at line 198 of file integrationtest_sequence_action.cpp.

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TEST_F() [11/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestNegativeBlendRadiusForPlanOnly
	)

Tests that negative blend radii are detected (Mainly for full coverage) in case "plan only" flag is set.

Test Sequence:

1. Send goal for planning and execution.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Error code of the result is not success and the planned trajectory is empty.

Definition at line 484 of file integrationtest_sequence_action.cpp.

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TEST_F() [12/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestOverlappingBlendRadii
	)

Tests that overlapping blend radii are detected.

Test Sequence:

1. Generate request with overlapping blend radii.
2. Send goal for planning and execution.
3. Evaluate the result.

Expected Results:

1. -
2. Goal is sent to the action server.
3. Command fails, result trajectory is empty.

Definition at line 227 of file integrationtest_sequence_action.cpp.

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TEST_F() [13/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestPlanOnlyFlag
	)

Tests the "only planning" flag.

Test Sequence:

1. Send goal for planning and execution.
2. Evaluate the result.

Expected Results:

1. Goal is sent to the action server.
2. Error code of the result is success.

Definition at line 415 of file integrationtest_sequence_action.cpp.

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TEST_F() [14/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestSendingOfEmptySequence
	)

Test behavior of sequence action server when empty sequence is sent.

Test Sequence:

1. Send empty sequence.
2. Evaluate the result.

Expected Results:

1. Empty sequence is sent to the action server.
2. Error code of the blend result is SUCCESS.

Definition at line 147 of file integrationtest_sequence_action.cpp.

TEST_F() [15/15]

TEST_F	(	IntegrationTestSequenceAction	,
		TestTooLargeBlendRadii
	)

Tests that too large blend radii are detected.

Test Sequence:

1. Generate request with too large blend radii.
2. Send goal for planning and execution.

1. Evaluate the result.

Expected Results:

1. -
2. Goal is sent to the action server.
3. Command fails, result trajectory is empty.

Definition at line 256 of file integrationtest_sequence_action.cpp.

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Variable Documentation

GOAL_SUCCEEDED_EVENT

const std::string GOAL_SUCCEEDED_EVENT = "GOAL_SUCCEEDED"

Definition at line 71 of file integrationtest_sequence_action.cpp.

SERVER_IDLE_EVENT

const std::string SERVER_IDLE_EVENT = "SERVER_IDLE"

Definition at line 72 of file integrationtest_sequence_action.cpp.