test: app only rostest fail check AM-686/platform-req

Author: Aaron Roller

CMakeLists.txt

@@ -224,6 +224,7 @@ if (CATKIN_ENABLE_TESTING)
                  hz_config
                  manual_to_disarming 
                  param
+                 platform_app_required_fail
                  platform_app_required_pass
                  platform_required_fail
                  platform_required_pass

rostest/platform_app_required_fail/platform_app_required_fail_rostest.cpp

@@ -0,0 +1,38 @@
+#include <am_rostest_lib/am_rostest.h>
+
+class PlatformAppRequiredFailTest : public RostestBase, am::AMLifeCycle
+{
+protected:
+
+  PlatformAppRequiredFailTest() : RostestBase() {
+  }
+
+};
+
+TEST_F(PlatformAppRequiredFailTest, requiredPlatformInLaunchFile)
+{
+  std::string missing = "missing";
+  
+  std::string platform_required_param;
+  ros::param::param<string>("/am_super/platform/required", platform_required_param, missing);
+  ASSERT_EQ(platform_required_param,missing);
+
+  std::string platform_app_required_param;
+  ros::param::param<string>("/am_super/platform/app/required", platform_app_required_param, missing);
+  ASSERT_EQ(platform_app_required_param,"other");
+  
+  std::string platform_actual_param;
+  ros::param::param<string>("/am_super/platform/actual", platform_actual_param, missing);
+  ASSERT_EQ(platform_actual_param,"maker_model_test");
+  waitUntil(LifeCycleState::CONFIGURING,"LL88");
+  waitUntil(LifeCycleState::FINALIZED,"88LL");
+  waitUntilMissionState(brain_box_msgs::VxState::SHUTDOWN,"L8L8");
+}
+
+int main(int argc, char** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, ros::this_node::getName());
+
+  return RUN_ALL_TESTS();
+}

rostest/platform_app_required_fail/platform_app_required_fail_rostest.test

@@ -0,0 +1,9 @@
+<launch>
+  <!-- include test file and pass in this test node name -->
+  <include file="$(find am_super)/rostest/am_super_rostest.test">
+    <arg name="test_name" value="platform_app_required_fail"/>
+  </include>
+  <!-- only the app matters, the maker/model does not -->
+  <rosparam param="/am_super/platform/app/required">other</rosparam>
+  <rosparam param="/am_super/platform/actual">maker_model_test</rosparam>
+</launch>

rostest/platform_app_required_pass/platform_app_required_pass_rostest.cpp

@@ -1,15 +1,15 @@
 #include <am_rostest_lib/am_rostest.h>
 
-class PlatformRequiredPassTest : public RostestBase, am::AMLifeCycle
+class PlatformAppRequiredPassTest : public RostestBase, am::AMLifeCycle
 {
 protected:
 
-  PlatformRequiredPassTest() : RostestBase() {
+  PlatformAppRequiredPassTest() : RostestBase() {
   }
 
 };
 
-TEST_F(PlatformRequiredPassTest, requiredPlatformInLaunchFile)
+TEST_F(PlatformAppRequiredPassTest, requiredPlatformInLaunchFile)
 {
   std::string missing = "missing";