unittest_pilz_industrial_motion_planner_direct.cpp

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#include <memory>
 
#include <gtest/gtest.h>
 
#include <pilz_industrial_motion_planner/pilz_industrial_motion_planner.h>
#include <pilz_industrial_motion_planner/planning_context_loader_ptp.h>
#include <pilz_industrial_motion_planner/planning_exceptions.h>
 
using namespace pilz_industrial_motion_planner;
 
TEST(CommandPlannerTestDirect, ExceptionCoverage)
{
  std::shared_ptr<PlanningException> p_ex{ new PlanningException("") };
  std::shared_ptr<ContextLoaderRegistrationException> clr_ex{ new ContextLoaderRegistrationException("") };
}
 
TEST(CommandPlannerTestDirect, CheckDoubleLoadingException)
{
  pilz_industrial_motion_planner::CommandPlanner planner;
  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader(
      new pilz_industrial_motion_planner::PlanningContextLoaderPTP());
 
  EXPECT_NO_THROW(planner.registerContextLoader(planning_context_loader));
 
  EXPECT_THROW(planner.registerContextLoader(planning_context_loader),
               pilz_industrial_motion_planner::ContextLoaderRegistrationException);
}
 
TEST(CommandPlannerTestDirect, FailOnLoadContext)
{
  pilz_industrial_motion_planner::CommandPlanner planner;
 
  // Mock of failing PlanningContextLoader
  class TestPlanningContextLoader : public pilz_industrial_motion_planner::PlanningContextLoader
  {
  public:
    std::string getAlgorithm() const override
    {
      return "Test_Algorithm";
    }
 
    bool loadContext(planning_interface::PlanningContextPtr& /* planning_context */, const std::string& /* name */,
                     const std::string& /* group */) const override
    {
      // Mock behaviour: Cannot load planning context.
      return false;
    }
  };
 
  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader =
      std::make_shared<TestPlanningContextLoader>();
  planner.registerContextLoader(planning_context_loader);
 
  moveit_msgs::msg::MotionPlanRequest req;
  req.planner_id = "Test_Algorithm";
 
  moveit_msgs::msg::MoveItErrorCodes error_code;
  EXPECT_FALSE(planner.getPlanningContext(nullptr, req, error_code));
  EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED, error_code.val);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}