Function TEST

plansys2_executor/test/unit/execution_tree_test.cpp:54–196

};

TEST(executiotest_noden_tree, bt_builder_factory)
{
  {
    auto test_node = rclcpp::Node::make_shared("get_action_from_string");
    auto domain_node = std::make_shared<plansys2::DomainExpertNode>();
    auto problem_node = std::make_shared<plansys2::ProblemExpertNode>();
    auto planner_node = std::make_shared<plansys2::PlannerNode>();
    auto domain_client = std::make_shared<plansys2::DomainExpertClient>();
    auto problem_client = std::make_shared<plansys2::ProblemExpertClient>();
    auto planner_client = std::make_shared<plansys2::PlannerClient>();

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

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

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

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

    planner_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);
    planner_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();
      }
    }

    ASSERT_TRUE(problem_client->addInstance(plansys2::Instance("robot1", "robot")));
    ASSERT_TRUE(problem_client->addInstance(plansys2::Instance("robot2", "robot")));
    ASSERT_TRUE(problem_client->addInstance(plansys2::Instance("robot3", "robot")));

    ASSERT_TRUE(problem_client->addInstance(plansys2::Instance("wheels_zone", "zone")));