jog_cpp_interface_test.cpp

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/* Author: Dave Coleman
   Desc:   Stub test for the C++ interface to JogArm
*/

// C++
#include <string>

// ROS
#include <ros/ros.h>

// Testing
#include <gtest/gtest.h>

// Main class
#include <moveit_jog_arm/jog_cpp_interface.h>

static const std::string LOGNAME = "jog_cpp_interface_test";

namespace moveit_jog_arm
{
class TestJogCppInterface : public ::testing::Test
{
public:
  void SetUp() override
  {
    nh_.reset(new ros::NodeHandle("~"));

    // Load the planning scene monitor
    planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
    planning_scene_monitor_->startSceneMonitor();
    planning_scene_monitor_->startStateMonitor();
  }
  void TearDown() override
  {
  }

protected:
  std::unique_ptr<ros::NodeHandle> nh_;
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
};  // class TestJogCppInterface

TEST_F(TestJogCppInterface, InitTest)
{
  moveit_jog_arm::JogCppInterface jog_cpp_interface(planning_scene_monitor_);
  ros::Duration(1).sleep();  // Give the started thread some time to run
}

// TODO(davetcoleman): due to many blocking checks for ROS messages, and
// an abundance of threads, unit tests are not currently feasible for the
// cpp interface. This should be addressed in future re-factors

}  // namespace moveit_jog_arm

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "jog_cpp_interface_test_test");

  ros::AsyncSpinner spinner(1);
  spinner.start();

  int result = RUN_ALL_TESTS();

  spinner.stop();
  ros::shutdown();
  return result;
}