unittest_get_solver_tip_frame.cpp

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#include <memory>
#include <stdexcept>
#include <string>
#include <vector>
 
#include <gmock/gmock.h>
#include <gtest/gtest.h>
 
#include <moveit/robot_model/joint_model_group.h>
 
#include <pilz_industrial_motion_planner/tip_frame_getter.h>
 
namespace pilz_industrial_motion_planner
{
using ::testing::AtLeast;
using ::testing::Return;
using ::testing::ReturnRef;
 
class SolverMock
{
public:
  MOCK_CONST_METHOD0(getTipFrames, const std::vector<std::string>&());
};
 
class JointModelGroupMock
{
public:
  MOCK_CONST_METHOD0(getSolverInstance, SolverMock const*());
  MOCK_CONST_METHOD0(getName, const std::string&());
};
 
class GetSolverTipFrameTest : public testing::Test
{
protected:
  void SetUp() override;
 
protected:
  SolverMock solver_mock_;
  JointModelGroupMock jmg_mock_;
  const std::string group_name_{ "fake_group" };
};
 
void GetSolverTipFrameTest::SetUp()
{
  EXPECT_CALL(jmg_mock_, getName()).WillRepeatedly(ReturnRef(group_name_));
}
 
TEST_F(GetSolverTipFrameTest, TestExceptionErrorCodeMapping)
{
  {
    std::shared_ptr<NoSolverException> nse_ex{ new NoSolverException("") };
    EXPECT_EQ(nse_ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
  }
 
  {
    std::shared_ptr<MoreThanOneTipFrameException> ex{ new MoreThanOneTipFrameException("") };
    EXPECT_EQ(ex->getErrorCode(), moveit_msgs::msg::MoveItErrorCodes::FAILURE);
  }
}
 
TEST_F(GetSolverTipFrameTest, TestExceptionMoreThanOneTipFrame)
{
  std::vector<std::string> tip_frames{ "fake_tip_frame1", "fake_tip_frame2" };
 
  EXPECT_CALL(jmg_mock_, getSolverInstance()).Times(AtLeast(1)).WillRepeatedly(Return(&solver_mock_));
 
  EXPECT_CALL(solver_mock_, getTipFrames()).Times(AtLeast(1)).WillRepeatedly(ReturnRef(tip_frames));
 
  EXPECT_THROW(getSolverTipFrame(&jmg_mock_), MoreThanOneTipFrameException);
}
 
TEST_F(GetSolverTipFrameTest, TestExceptionNoSolver)
{
  EXPECT_CALL(jmg_mock_, getSolverInstance()).WillOnce(Return(nullptr));
 
  EXPECT_THROW(getSolverTipFrame(&jmg_mock_), NoSolverException);
}
 
TEST_F(GetSolverTipFrameTest, NullptrJointGroup)
{
  moveit::core::JointModelGroup* group = nullptr;
  EXPECT_THROW(hasSolver(group), std::invalid_argument);
}
 
}  // namespace pilz_industrial_motion_planner
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
 
  return RUN_ALL_TESTS();
}