sr_test_runner.hpp

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#ifndef SR_TEST_RUNNER_HPP_
#define SR_TEST_RUNNER_HPP_

#include <self_test/self_test.h>
#include "sr_self_test/gnuplot-iostream.h"
#include "sr_self_test/diagnostic_parser.hpp"
#include "sr_self_test/manual_test.hpp"

#include "sr_self_test/sensor_noise_test.hpp"

namespace shadow_robot
{
class SrTestRunner : public self_test::TestRunner
{
public:
  SrTestRunner();

  virtual ~SrTestRunner();

  using DiagnosticTaskVector::add;
  using TestRunner::setID;

  void addTopicTest(std::string topic_name, double frequency);
  void addServicesTest(std::vector<std::string> services_to_test);
  void addManualTests();

  void addSensorNoiseTest();

  void plot(std::map<std::string, std::vector<double> > joints);
  void plot(std::map<std::string, std::vector<double> > joints, bool testing);
  void plot(std::map<std::string, std::vector<double> > joints, std::string path);
  void plot(std::map<std::string, std::vector<double> > joints, std::string path, bool testing);

  void add_diagnostic_parser();

private:
  static const double SERVICE_TIMEOUT_CONST_;

  std::vector<std::string> services_to_test_;
  void service_test_cb_(diagnostic_updater::DiagnosticStatusWrapper& status);
  size_t index_service_to_test_;

  boost::shared_ptr<Gnuplot> gnuplot_;

  boost::shared_ptr<DiagnosticParser> diagnostic_parser_;

  std::vector<boost::shared_ptr<ManualTests> > manual_tests_;

  boost::shared_ptr<SensorNoiseTest> sensor_noise_test_;
};

}

/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/

#endif /* SR_TEST_RUNNER_HPP_ */