occupancy_map_monitor_tests.cpp

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/* Author: Tyler Weaver */
 
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.hpp>
 
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <rclcpp/version.h>
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/buffer.hpp>
// For Jazzy and older
#else
#include <tf2_ros/buffer.h>
#endif
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
struct MockMiddlewareHandle : public occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle
{
  MOCK_METHOD(occupancy_map_monitor::OccupancyMapMonitor::Parameters, getParameters, (), (const, override));
  MOCK_METHOD(occupancy_map_monitor::OccupancyMapUpdaterPtr, loadOccupancyMapUpdater,
              (const std::string& sensor_plugin), (override));
  MOCK_METHOD(void, initializeOccupancyMapUpdater,
              (occupancy_map_monitor::OccupancyMapUpdaterPtr occupancy_map_updater), (override));
  MOCK_METHOD(void, createSaveMapService,
              (occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback callback),
              (override));
  MOCK_METHOD(void, createLoadMapService,
              (occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback),
              (override));
};
 
TEST(OccupancyMapMonitorTests, ConstructorTest)
{
  // GIVEN a mocked middleware handle
  auto mock_middleware_handle = std::make_unique<MockMiddlewareHandle>();
 
  // THEN we expect it to call these methods on the MiddlewareHandle
  EXPECT_CALL(*mock_middleware_handle, getParameters).Times(1);
  EXPECT_CALL(*mock_middleware_handle, createSaveMapService).Times(1);
  EXPECT_CALL(*mock_middleware_handle, createLoadMapService).Times(1);
  EXPECT_CALL(*mock_middleware_handle, loadOccupancyMapUpdater).Times(0);
 
  // WHEN we construct the occupancy map monitor
  occupancy_map_monitor::OccupancyMapMonitor occupancy_map_monitor{
    std::move(mock_middleware_handle), std::make_shared<tf2_ros::Buffer>(std::make_shared<rclcpp::Clock>())
  };
}
 
int main(int argc, char** argv)
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}