servo_ros_fixture.hpp

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/* Author    : V Mohammed Ibrahim
   Desc      : Resources used by servo ROS integration tests
   Title     : servo_ros_fixture.hpp
   Project   : moveit_servo
   Created   : 07/23/2023
*/
 
#pragma once
 
#include <gtest/gtest.h>
#include <moveit_msgs/msg/servo_status.hpp>
#include <moveit_msgs/srv/servo_command_type.hpp>
#include <moveit_servo/utils/datatypes.hpp>
#include <rclcpp/client.hpp>
#include <rclcpp/executors.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/qos.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
 
class ServoRosFixture : public testing::Test
{
protected:
  void statusCallback(const moveit_msgs::msg::ServoStatus::ConstSharedPtr& msg)
  {
    status_ = static_cast<moveit_servo::StatusCode>(msg->code);
    status_count_++;
  }
 
  void jointStateCallback(const sensor_msgs::msg::JointState::ConstSharedPtr& msg)
  {
    joint_states_ = *msg;
    state_count_++;
  }
 
  void trajectoryCallback(const trajectory_msgs::msg::JointTrajectory::ConstSharedPtr& msg)
  {
    published_trajectory_ = *msg;
    traj_count_++;
  }
 
  void SetUp() override
  {
    // Create a node to be given to Servo.
    servo_test_node_ = std::make_shared<rclcpp::Node>("moveit_servo_test");
 
    status_ = moveit_servo::StatusCode::INVALID;
 
    status_subscriber_ = servo_test_node_->create_subscription<moveit_msgs::msg::ServoStatus>(
        "/servo_node/status", rclcpp::SystemDefaultsQoS(),
        [this](const moveit_msgs::msg::ServoStatus::ConstSharedPtr& msg) { return statusCallback(msg); });
 
    joint_state_subscriber_ = servo_test_node_->create_subscription<sensor_msgs::msg::JointState>(
        "/joint_states", rclcpp::SystemDefaultsQoS(),
        [this](const sensor_msgs::msg::JointState::ConstSharedPtr& msg) { return jointStateCallback(msg); });
 
    trajectory_subscriber_ = servo_test_node_->create_subscription<trajectory_msgs::msg::JointTrajectory>(
        "/panda_arm_controller/joint_trajectory", rclcpp::SystemDefaultsQoS(),
        [this](const trajectory_msgs::msg::JointTrajectory::ConstSharedPtr& msg) { return trajectoryCallback(msg); });
 
    switch_input_client_ =
        servo_test_node_->create_client<moveit_msgs::srv::ServoCommandType>("/servo_node/switch_command_type");
 
    waitForService();
 
    executor_.add_node(servo_test_node_);
    executor_thread_ = std::thread([this]() { executor_.spin(); });
  }
 
  void TearDown() override
  {
    executor_.remove_node(servo_test_node_);
    executor_.cancel();
    if (executor_thread_.joinable())
    {
      executor_thread_.join();
    }
  }
 
  void waitForService()
  {
    auto logger = servo_test_node_->get_logger();
    while (!switch_input_client_->service_is_ready())
    {
      if (!rclcpp::ok())
      {
        RCLCPP_ERROR(logger, "Interrupted while waiting for the service. Exiting.");
        std::exit(EXIT_FAILURE);
      }
 
      rclcpp::sleep_for(std::chrono::milliseconds(500));
    }
    RCLCPP_INFO(logger, "MoveIt Servo input switching service ready!");
  }
 
  void waitForJointStates()
  {
    auto logger = servo_test_node_->get_logger();
    auto wait_timeout = rclcpp::Duration::from_seconds(5);
    auto start_time = servo_test_node_->now();
 
    while (rclcpp::ok() && state_count_ == 0)
    {
      rclcpp::sleep_for(std::chrono::milliseconds(500));
      auto elapsed_time = servo_test_node_->now() - start_time;
      if (elapsed_time >= wait_timeout)
      {
        RCLCPP_ERROR(logger, "Timed out waiting for joint states");
        FAIL();
      }
    }
  }
 
  ServoRosFixture() : state_count_{ 0 }, traj_count_{ 0 }
  {
  }
 
  std::shared_ptr<rclcpp::Node> servo_test_node_;
 
  // Executor and a thread to run the executor.
  rclcpp::executors::SingleThreadedExecutor executor_;
  std::thread executor_thread_;
 
  rclcpp::Subscription<moveit_msgs::msg::ServoStatus>::SharedPtr status_subscriber_;
  rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_subscriber_;
  rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr trajectory_subscriber_;
  rclcpp::Client<moveit_msgs::srv::ServoCommandType>::SharedPtr switch_input_client_;
 
  sensor_msgs::msg::JointState joint_states_;
  trajectory_msgs::msg::JointTrajectory published_trajectory_;
 
  std::atomic<int> status_count_;
  std::atomic<moveit_servo::StatusCode> status_;
 
  std::atomic<int> state_count_;
  std::atomic<int> traj_count_;
};