Class MockAdapter

Defined in File MockAdapter.hpp

Inheritance Relationships

Base Type

public std::enable_shared_from_this< MockAdapter >

Class Documentation

class MockAdapter : public std::enable_shared_from_this<MockAdapter>

This class is an alternative to the Adapter class, but made specifically for testing. It does not try to connect to a Schedule Node or to any Negotiation topics. It keeps its database internal.

Public Functions

MockAdapter(const std::string &node_name, const rclcpp::NodeOptions &node_options = rclcpp::NodeOptions()): Create a mock adapter.

std::shared_ptr<FleetUpdateHandle> add_fleet(const std::string &fleet_name, rmf_traffic::agv::VehicleTraits traits, rmf_traffic::agv::Graph navigation_graph, std::optional<std::string> server_uri = std::nullopt): Add a fleet to test.

std::shared_ptr<rclcpp::Node> node(): Get the rclcpp Node for this adapter.

std::shared_ptr<const rclcpp::Node> node() const: const-qualified node()

void add_secondary_node(std::shared_ptr<rclcpp::Node> secondary_node)

void start(): Start spinning this adapter.

void stop(): Stop this adapter from spinning.

void dispatch_task(std::string task_id, const nlohmann::json &request): Submit a task request.

~MockAdapter()