trajectory_monitor_tests.cpp

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/* Author: Abishalini Sivaraman */
 
#include <memory>
#include <chrono>
#include <thread>
#include <atomic>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <moveit/planning_scene_monitor/trajectory_monitor.hpp>
#include <moveit/planning_scene_monitor/current_state_monitor.hpp>
#include <moveit/utils/robot_model_test_utils.hpp>
#include <rclcpp/rclcpp.hpp>
#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
 
using namespace std::chrono_literals;
 
struct MockTrajectoryMonitorMiddlewareHandle : public planning_scene_monitor::TrajectoryMonitor::MiddlewareHandle
{
  MOCK_METHOD(void, setRate, (double sampling_frequency), (override));
  MOCK_METHOD(void, sleep, (), (override));
};
 
struct MockCurrentStateMonitorMiddlewareHandle : public planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle
{
  MOCK_METHOD(rclcpp::Time, now, (), (const, override));
  MOCK_METHOD(void, createJointStateSubscription,
              (const std::string& topic, planning_scene_monitor::JointStateUpdateCallback callback), (override));
  MOCK_METHOD(void, resetJointStateSubscription, (), (override));
  MOCK_METHOD(std::string, getJointStateTopicName, (), (const, override));
  MOCK_METHOD(bool, sleepFor, (const std::chrono::nanoseconds& nanoseconds), (const, override));
  MOCK_METHOD(bool, ok, (), (const, override));
  MOCK_METHOD(void, createStaticTfSubscription, (TfCallback callback), (override));
  MOCK_METHOD(void, createDynamicTfSubscription, (TfCallback callback), (override));
  MOCK_METHOD(std::string, getStaticTfTopicName, (), (const, override));
  MOCK_METHOD(std::string, getDynamicTfTopicName, (), (const, override));
  MOCK_METHOD(void, resetTfSubscriptions, (), (override));
};
 
void waitFor(std::chrono::seconds timeout, const std::function<bool()>& done)
{
  const auto start = std::chrono::steady_clock::now();
  while ((std::chrono::steady_clock::now() - start) < timeout)
  {
    if (done())
    {
      return;
    }
    std::this_thread::sleep_for(1ms);
  }
}
 
TEST(TrajectoryMonitorTests, SleepAtLeastOnce)
{
  auto mock_trajectory_monitor_middleware_handle = std::make_unique<MockTrajectoryMonitorMiddlewareHandle>();
  auto mock_current_state_monitor_middleware_handle = std::make_unique<MockCurrentStateMonitorMiddlewareHandle>();
 
  // THEN we expect it to call sleep function
  EXPECT_CALL(*mock_trajectory_monitor_middleware_handle, sleep).Times(::testing::AtLeast(1));
 
  // GIVEN a TrajectoryMonitor is started
  auto current_state_monitor = std::make_shared<planning_scene_monitor::CurrentStateMonitor>(
      std::move(mock_current_state_monitor_middleware_handle), moveit::core::loadTestingRobotModel("panda"),
      std::make_shared<tf2_ros::Buffer>(std::make_shared<rclcpp::Clock>()), false);
 
  planning_scene_monitor::TrajectoryMonitor trajectory_monitor{ current_state_monitor,
                                                                std::move(mock_trajectory_monitor_middleware_handle),
                                                                10.0 };
 
  // Set the trajectory monitor callback so we can block until at least one sample was taken.
  std::atomic<bool> callback_called{ false };
  trajectory_monitor.setOnStateAddCallback([&](const moveit::core::RobotStateConstPtr& /* unused */,
                                               const rclcpp::Time& /* unused */) { callback_called = true; });
 
  // WHEN we call the startTrajectoryMonitor function
  trajectory_monitor.startTrajectoryMonitor();
  waitFor(10s, [&]() { return static_cast<bool>(callback_called); });
}
 
int main(int argc, char** argv)
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}