Function TEST

plansys2_executor/test/unit/bt_node_test.cpp:77–191

};

TEST(problem_expert, wait_overall_req_test)
{
  {
    auto test_node = rclcpp::Node::make_shared("test_node");
    auto test_lc_node = rclcpp_lifecycle::LifecycleNode::make_shared("test_lc_node");
    auto domain_node = std::make_shared<plansys2::DomainExpertNode>();
    auto problem_node = std::make_shared<plansys2::ProblemExpertNode>();

    auto domain_client = std::make_shared<plansys2::DomainExpertClient>();
    auto problem_client = std::make_shared<plansys2::ProblemExpertClient>();

    std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_executor");

    domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
    problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});

    rclcpp::experimental::executors::EventsExecutor exe;

    exe.add_node(domain_node->get_node_base_interface());
    exe.add_node(problem_node->get_node_base_interface());

    bool finish = false;
    std::thread t([&]() {
        while (!finish) {exe.spin_some();}
      });


    domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
    problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);

    {
      rclcpp::Rate rate(10);
      auto start = test_node->now();
      while ((test_node->now() - start).seconds() < 0.5) {
        rate.sleep();
      }
    }

    domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
    problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

    {
      rclcpp::Rate rate(10);
      auto start = test_node->now();
      while ((test_node->now() - start).seconds() < 0.5) {
        rate.sleep();
      }
    }

    auto action_map = std::make_shared<std::map<std::string, plansys2::ActionExecutionInfo>>();
    (*action_map)["(move robot1 wheels_zone assembly_zone):5"] = plansys2::ActionExecutionInfo();
    (*action_map)["(move robot1 wheels_zone assembly_zone):5"].action_info =
      domain_client->getDurativeAction(
    plansys2::get_action_name("(move robot1 wheels_zone assembly_zone)"),
    plansys2::get_action_params("(move robot1 wheels_zone assembly_zone)"));

    ASSERT_FALSE(
      (*action_map)["(move robot1 wheels_zone assembly_zone):5"].action_info.is_empty());