ManipulatorMock Class Reference

Mocks the ROS Api of the manipulator relevant for stopping and holding. More...

#include <pilz_manipulator_mock.h>

Public Member Functions
void	advertiseHaltService (ros::NodeHandle nh, std::string halt_service_name)
void	advertiseHoldService (ros::NodeHandle nh, std::string hold_service_name)
void	advertiseRecoverService (ros::NodeHandle nh, std::string recover_service_name)
void	advertiseServices (ros::NodeHandle nh, std::string hold_service_name, std::string unhold_service_name, std::string halt_service_name, std::string recover_service_name)
void	advertiseUnholdService (ros::NodeHandle nh, std::string unhold_service_name)
	MOCK_METHOD2 (holdCb, bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp))
	MOCK_METHOD2 (unholdCb, bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp))
	MOCK_METHOD2 (haltCb, bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp))
	MOCK_METHOD2 (recoverCb, bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp))

Private Member Functions
bool	haltCb_internal (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)
bool	holdCb_internal (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)
bool	recoverCb_internal (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)
bool	unholdCb_internal (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)

Private Attributes
ros::ServiceServer	halt_srv_
ros::ServiceServer	hold_srv_
ros::ServiceServer	recover_srv_
ros::ServiceServer	unhold_srv_

Detailed Description

Mocks the ROS Api of the manipulator relevant for stopping and holding.

prbt_hardware_support::PilzRunPermittedModbusAdapterNode relies on 4 advertised services for its functionality. For easy testing these services are advertised by this Gmock supported Mock class.

Definition at line 34 of file pilz_manipulator_mock.h.

Member Function Documentation

advertiseHaltService()

void ManipulatorMock::advertiseHaltService	(	ros::NodeHandle	nh,
		std::string	halt_service_name
	)

Definition at line 74 of file pilz_manipulator_mock.h.

advertiseHoldService()

void ManipulatorMock::advertiseHoldService	(	ros::NodeHandle	nh,
		std::string	hold_service_name
	)

Definition at line 62 of file pilz_manipulator_mock.h.

advertiseRecoverService()

void ManipulatorMock::advertiseRecoverService	(	ros::NodeHandle	nh,
		std::string	recover_service_name
	)

Definition at line 80 of file pilz_manipulator_mock.h.

advertiseServices()

void ManipulatorMock::advertiseServices	(	ros::NodeHandle	nh,
		std::string	hold_service_name,
		std::string	unhold_service_name,
		std::string	halt_service_name,
		std::string	recover_service_name
	)

Definition at line 110 of file pilz_manipulator_mock.h.

advertiseUnholdService()

void ManipulatorMock::advertiseUnholdService	(	ros::NodeHandle	nh,
		std::string	unhold_service_name
	)

Definition at line 68 of file pilz_manipulator_mock.h.

haltCb_internal()

bool ManipulatorMock::haltCb_internal ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  resp  )

private

Definition at line 98 of file pilz_manipulator_mock.h.

holdCb_internal()

bool ManipulatorMock::holdCb_internal ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  resp  )

private

Definition at line 86 of file pilz_manipulator_mock.h.

MOCK_METHOD2() [1/4]

ManipulatorMock::MOCK_METHOD2	(	holdCb	,
		bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)
	)

MOCK_METHOD2() [2/4]

ManipulatorMock::MOCK_METHOD2	(	unholdCb	,
		bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)
	)

MOCK_METHOD2() [3/4]

ManipulatorMock::MOCK_METHOD2	(	haltCb	,
		bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)
	)

MOCK_METHOD2() [4/4]

ManipulatorMock::MOCK_METHOD2	(	recoverCb	,
		bool(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp)
	)

recoverCb_internal()

bool ManipulatorMock::recoverCb_internal ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  resp  )

private

Definition at line 104 of file pilz_manipulator_mock.h.

unholdCb_internal()

bool ManipulatorMock::unholdCb_internal ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  resp  )

private

Definition at line 92 of file pilz_manipulator_mock.h.

Member Data Documentation

halt_srv_

ros::ServiceServer ManipulatorMock::halt_srv_

private

Definition at line 58 of file pilz_manipulator_mock.h.

hold_srv_

ros::ServiceServer ManipulatorMock::hold_srv_

private

Definition at line 56 of file pilz_manipulator_mock.h.

recover_srv_

ros::ServiceServer ManipulatorMock::recover_srv_

private

Definition at line 59 of file pilz_manipulator_mock.h.

unhold_srv_

ros::ServiceServer ManipulatorMock::unhold_srv_

private

Definition at line 57 of file pilz_manipulator_mock.h.

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The documentation for this class was generated from the following file:

• pilz_manipulator_mock.h