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test: Split integration tests into method and variables
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| use std::sync::{mpsc, Arc}; | ||
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| use common::{wait_for_function_to_pass, ManagedRosBridge}; | ||
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| pub mod common; | ||
| pub mod helpers; | ||
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| #[test] | ||
| fn e2e_ros_service_to_opc_ua_call() { | ||
| let (assertion_tx, _assertion_rx) = mpsc::channel(); | ||
| let (stop_opc_ua_server_tx, stop_opc_ua_server_rx) = mpsc::channel(); | ||
| helpers::opc_ua_test_server::run_opc_ua_test_server(assertion_tx, stop_opc_ua_server_rx); | ||
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| let mut bridge_process = ManagedRosBridge::new(None).expect("Failed to start subprocess"); | ||
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| let service_caller = Arc::new( | ||
| helpers::ros_service_caller::ServiceCaller::new( | ||
| "/voraus_bridge_node/impedance_control/enable", | ||
| ) | ||
| .unwrap(), | ||
| ); | ||
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| // TODO: Figure out why this takes almost 10 s [RR-836] | ||
| service_caller.start(); | ||
| assert!(*service_caller.number_of_calls.lock().unwrap() == 0); | ||
| service_caller.call(); | ||
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| wait_for_function_to_pass( | ||
| || *service_caller.number_of_calls.lock().unwrap() == 1, | ||
| 5000, | ||
| ) | ||
| .unwrap(); | ||
| bridge_process.terminate(); | ||
| assert!(bridge_process | ||
| .get_std_err() | ||
| .unwrap() | ||
| .contains("ROS service called")); | ||
| stop_opc_ua_server_tx.send(()).unwrap(); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| use std::{ | ||
| iter::zip, | ||
| sync::{atomic::Ordering, mpsc, Arc}, | ||
| time::Duration, | ||
| }; | ||
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| use common::{wait_for_function_to_pass, ManagedRosBridge}; | ||
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| pub mod common; | ||
| pub mod helpers; | ||
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| #[test] | ||
| fn test_joint_states() { | ||
| let (assertion_tx, _assertion_rx) = mpsc::channel(); | ||
| let (stop_opc_ua_server_tx, stop_opc_ua_server_rx) = mpsc::channel(); | ||
| helpers::opc_ua_test_server::run_opc_ua_test_server(assertion_tx, stop_opc_ua_server_rx); | ||
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| let mut _bridge_process = ManagedRosBridge::new(None).expect("Failed to start subprocess"); | ||
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| let subscription = Arc::new( | ||
| helpers::ros_subscriber::Subscriber::new( | ||
| "joint_states_subscriber", | ||
| "/voraus_bridge_node/joint_states", | ||
| ) | ||
| .unwrap(), | ||
| ); | ||
| let clone = Arc::clone(&subscription.node); | ||
| // TODO: Figure out why this takes almost 10 s [RR-836] | ||
| rclrs::spin_once(clone, Some(Duration::from_secs(25))).expect("Could not spin"); | ||
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| wait_for_function_to_pass( | ||
| || { | ||
| rclrs::spin_once(subscription.node.clone(), Some(Duration::new(5, 0))) | ||
| .expect("Could not spin"); | ||
| let joint_state = subscription.data.lock().unwrap().clone().unwrap(); | ||
| let mut joint_state_flat = joint_state | ||
| .position | ||
| .into_iter() | ||
| .chain(joint_state.velocity.into_iter().chain(joint_state.effort)); | ||
| joint_state_flat.all(|x| x != 0.0) | ||
| }, | ||
| 5000, | ||
| ) | ||
| .unwrap(); | ||
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| let number_of_messages_received = subscription.num_messages.load(Ordering::SeqCst); | ||
| let first_value = subscription.data.lock().unwrap().clone().unwrap(); | ||
| assert!(number_of_messages_received >= 2); | ||
| let joint_state_first_value_flat = first_value | ||
| .position | ||
| .into_iter() | ||
| .chain(first_value.velocity.into_iter().chain(first_value.effort)); | ||
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| wait_for_function_to_pass( | ||
| || { | ||
| rclrs::spin_once(subscription.node.clone(), Some(Duration::new(5, 0))) | ||
| .expect("Could not spin"); | ||
| let joint_state = subscription.data.lock().unwrap().clone().unwrap(); | ||
| let joint_state_flat = joint_state | ||
| .position | ||
| .into_iter() | ||
| .chain(joint_state.velocity.into_iter().chain(joint_state.effort)); | ||
| zip(joint_state_flat, joint_state_first_value_flat.clone()) | ||
| .all(|(current, first)| current > first) | ||
| }, | ||
| 5000, | ||
| ) | ||
| .unwrap(); | ||
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| stop_opc_ua_server_tx.send(()).unwrap(); | ||
| } |