#include <gtest/gtest.h>
#include <ros/ros.h>
#include <pilz_msgs/BrakeTest.h>
#include <pilz_testutils/joint_state_publisher_mock.h>
#include <prbt_hardware_support/WriteModbusRegister.h>
#include <prbt_hardware_support/canopen_chain_node_mock.h>
#include <prbt_hardware_support/modbus_api_spec.h>
#include <prbt_hardware_support/pilz_manipulator_mock.h>
#include <prbt_hardware_support/pilz_modbus_server_mock.h>
#include <prbt_hardware_support/ros_test_helper.h>

Include dependency graph for integrationtest_execute_brake_test.cpp:

Namespaces
	prbt_hardware_support

Functions
bool	prbt_hardware_support::brakeTestRegisterSetOnServer (PilzModbusServerMock &server, unsigned short register_perf, unsigned short register_res, uint16_t expectation, float sleep_per_try_s, unsigned short retries)

int	main (int argc, char *argv[])

	prbt_hardware_support::TEST (IntegrationtestExecuteBrakeTest, testBrakeTestService)

Variables
static const std::string	CONTROLLER_HOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/hold" }

static const std::string	CONTROLLER_UNHOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/unhold" }

static const std::string	EXECUTE_BRAKE_TEST_SERVICE_NAME { "/prbt/execute_braketest" }

static constexpr uint16_t	MODBUS_BRAKE_TEST_EXPECTED_VALUE { 2 }

static constexpr uint16_t	MODBUS_BRAKE_TEST_PREPARE_VALUE { 1 }

static const std::string	MODBUS_WRITE_SERVICE_NAME { "/pilz_modbus_client_node/modbus_write" }

static constexpr double	WAIT_FOR_BRAKE_TEST_SERVICE_TIMEOUT_S { 5.0 }