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Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
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scitos2_behavior_tree/test/utils/test_behavior_tree_fixture.hpp
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// Copyright (c) 2018 Intel Corporation | ||
// Copyright (c) 2020 Sarthak Mittal | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef UTILS__TEST_BEHAVIOR_TREE_FIXTURE_HPP_ | ||
#define UTILS__TEST_BEHAVIOR_TREE_FIXTURE_HPP_ | ||
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#include <gtest/gtest.h> | ||
#include <memory> | ||
#include <set> | ||
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#include "behaviortree_cpp_v3/bt_factory.h" | ||
#include "rclcpp/rclcpp.hpp" | ||
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#include "test_transform_handler.hpp" | ||
#include "test_dummy_tree_node.hpp" | ||
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namespace nav2_behavior_tree | ||
{ | ||
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class BehaviorTreeTestFixture : public ::testing::Test | ||
{ | ||
public: | ||
static void SetUpTestCase() | ||
{ | ||
node_ = std::make_shared<rclcpp::Node>("test_behavior_tree_fixture"); | ||
transform_handler_ = std::make_shared<nav2_behavior_tree::TransformHandler>(node_); | ||
factory_ = std::make_shared<BT::BehaviorTreeFactory>(); | ||
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config_ = new BT::NodeConfiguration(); | ||
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// Create the blackboard that will be shared by all of the nodes in the tree | ||
config_->blackboard = BT::Blackboard::create(); | ||
// Put items on the blackboard | ||
config_->blackboard->set( | ||
"node", | ||
node_); | ||
config_->blackboard->set( | ||
"tf_buffer", | ||
transform_handler_->getBuffer()); | ||
config_->blackboard->set<std::chrono::milliseconds>( | ||
"server_timeout", | ||
std::chrono::milliseconds(20)); | ||
config_->blackboard->set<std::chrono::milliseconds>( | ||
"bt_loop_duration", | ||
std::chrono::milliseconds(10)); | ||
config_->blackboard->set("initial_pose_received", false); | ||
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transform_handler_->activate(); | ||
transform_handler_->waitForTransform(); | ||
} | ||
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static void TearDownTestCase() | ||
{ | ||
transform_handler_->deactivate(); | ||
delete config_; | ||
config_ = nullptr; | ||
transform_handler_.reset(); | ||
node_.reset(); | ||
factory_.reset(); | ||
} | ||
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protected: | ||
static rclcpp::Node::SharedPtr node_; | ||
static std::shared_ptr<nav2_behavior_tree::TransformHandler> transform_handler_; | ||
static BT::NodeConfiguration * config_; | ||
static std::shared_ptr<BT::BehaviorTreeFactory> factory_; | ||
}; | ||
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} // namespace nav2_behavior_tree | ||
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rclcpp::Node::SharedPtr nav2_behavior_tree::BehaviorTreeTestFixture::node_ = nullptr; | ||
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std::shared_ptr<nav2_behavior_tree::TransformHandler> | ||
nav2_behavior_tree::BehaviorTreeTestFixture::transform_handler_ = nullptr; | ||
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BT::NodeConfiguration * nav2_behavior_tree::BehaviorTreeTestFixture::config_ = nullptr; | ||
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std::shared_ptr<BT::BehaviorTreeFactory> | ||
nav2_behavior_tree::BehaviorTreeTestFixture::factory_ = nullptr; | ||
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#endif // UTILS__TEST_BEHAVIOR_TREE_FIXTURE_HPP_ |
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// Copyright (c) 2018 Intel Corporation | ||
// Copyright (c) 2020 Sarthak Mittal | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef UTILS__TEST_DUMMY_TREE_NODE_HPP_ | ||
#define UTILS__TEST_DUMMY_TREE_NODE_HPP_ | ||
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#include <behaviortree_cpp_v3/basic_types.h> | ||
#include <behaviortree_cpp_v3/action_node.h> | ||
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namespace nav2_behavior_tree | ||
{ | ||
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/** | ||
* @brief A Dummy TreeNode to be used as a child for testing nodes | ||
* Returns the current status on tick without any execution logic | ||
*/ | ||
class DummyNode : public BT::ActionNodeBase | ||
{ | ||
public: | ||
DummyNode() | ||
: BT::ActionNodeBase("dummy", {}) | ||
{ | ||
} | ||
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void changeStatus(BT::NodeStatus status) | ||
{ | ||
setStatus(status); | ||
} | ||
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BT::NodeStatus executeTick() override | ||
{ | ||
return tick(); | ||
} | ||
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BT::NodeStatus tick() override | ||
{ | ||
return status(); | ||
} | ||
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void halt() override | ||
{ | ||
} | ||
}; | ||
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} // namespace nav2_behavior_tree | ||
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#endif // UTILS__TEST_DUMMY_TREE_NODE_HPP_ |
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// Copyright (c) 2020 Sarthak Mittal | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef UTILS__TEST_SERVICE_HPP_ | ||
#define UTILS__TEST_SERVICE_HPP_ | ||
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#include <string> | ||
#include <memory> | ||
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#include "rclcpp/rclcpp.hpp" | ||
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template<class ServiceT> | ||
class TestService : public rclcpp::Node | ||
{ | ||
public: | ||
explicit TestService( | ||
std::string service_name, | ||
const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) | ||
: Node("test_service", options) | ||
{ | ||
using namespace std::placeholders; // NOLINT | ||
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server_ = create_service<ServiceT>( | ||
service_name, | ||
std::bind(&TestService::handle_service, this, _1, _2, _3)); | ||
} | ||
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std::shared_ptr<typename ServiceT::Request> getCurrentRequest() const | ||
{ | ||
return current_request_; | ||
} | ||
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protected: | ||
virtual void handle_service( | ||
const std::shared_ptr<rmw_request_id_t> request_header, | ||
const std::shared_ptr<typename ServiceT::Request> request, | ||
const std::shared_ptr<typename ServiceT::Response> response) | ||
{ | ||
(void)request_header; | ||
(void)response; | ||
current_request_ = request; | ||
} | ||
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private: | ||
typename rclcpp::Service<ServiceT>::SharedPtr server_; | ||
std::shared_ptr<typename ServiceT::Request> current_request_; | ||
}; | ||
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#endif // UTILS__TEST_SERVICE_HPP_ |
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